Robot motion compensation method for thermal error

The invention provides a robot motion compensation method for thermal errors, which comprises the following steps of: S1, quantifying a heat source to obtain a rolling bearing on a single joint of a robot as a main friction heat source; s2, the relation between the temperature and the motion error amount in the rotation direction of the motor spindle is established, the relation comprises the steps that a temperature-structural field coupling model is established, and the motion error generally refers to the difference degree between the actual position and the ideal position or the instruction position of joint rotation; s3, the temperature-structure field model is solved; and S4, based on a single-joint test environment, performing modeling by using training set data in continuous test data, performing error prediction on the test set data, and performing off-line simulation on a thermal error prediction result of the test set data. 本发明提出了一种针对热误差的机器人运动补偿方法，包括：步骤S1，对热源进行定量，得到机器人单关节上滚动轴承为主要摩擦热源；步骤S2，建立电机主轴转动方