Research on decoupling of trajectory error for industrial robot based on kinematics

In order to further improve the trajectory accuracy of industrial robots, the influencing factors of each error of the robot are analyzed, and the trajectory error model is established. A decoupling analysis method for trajectory errors of industrial robots based on kinematics is proposed. Taking a Gree six degrees of freedom industrial robot as the experimental object and Leica laser tracker as the measuring instrument, the trajectory accuracy of the Gree six degrees of freedom industrial robot is tested. The influence of various error sources on the trajectory errors of the robot is analyzed, and the effectiveness of the proposed method is verified. The experimental results show that the trajectory error is amplified to $3.77\times 10^{2}$ times from the motion control system to the joint servo system. From the joint servo system to the body structure system, the trajectory error is amplified to $0.57\times 10$ times.