TY - JOUR
T1 - Modeling and compensation of absolute positioning error of industrial robots
AU - Qi, Jun De
AU - Zhang, Ding Hua
AU - Li, Shan
AU - Chen, Bing
N1 - Publisher Copyright:
© 2016, Editorial Department, Journal of South China University of Technology. All right reserved.
PY - 2016/11/1
Y1 - 2016/11/1
N2 - In order to improve the absolute positioning accuracy of robots, an absolute positioning error model is constructed and an error compensation method is investigated. First, positioning errors are divided into geometrical parameter errors and compliance errors, and two models are respectively constructed for the two kinds of errors. The geometrical parameter errors are investigated on the basis of modified Denavit-Hartenberg kinematics, and the impact of the compliance errors is decoupled. Then, by taking into consideration the conversion error between the base coordinate system and the measurement one of robots, a geometrical parameter error model on the basis of relative positions is constructed. For the compliance errors, a model for joint 2 and joint 3 is constructed according to the construction features of robots, thus simplifying the calculation model of the compliance errors greatly. Finally, on the basis of the two kinds of error models, the error compensation method is proposed. The results of error compensation experiments show that average absolute positioning accuracy decreases from 1.173 to 0.158mm after calibration, which means that the proposed method can improve the absolute positioning accuracy of industrial robots effectively and extend its range of applications greatly.
AB - In order to improve the absolute positioning accuracy of robots, an absolute positioning error model is constructed and an error compensation method is investigated. First, positioning errors are divided into geometrical parameter errors and compliance errors, and two models are respectively constructed for the two kinds of errors. The geometrical parameter errors are investigated on the basis of modified Denavit-Hartenberg kinematics, and the impact of the compliance errors is decoupled. Then, by taking into consideration the conversion error between the base coordinate system and the measurement one of robots, a geometrical parameter error model on the basis of relative positions is constructed. For the compliance errors, a model for joint 2 and joint 3 is constructed according to the construction features of robots, thus simplifying the calculation model of the compliance errors greatly. Finally, on the basis of the two kinds of error models, the error compensation method is proposed. The results of error compensation experiments show that average absolute positioning accuracy decreases from 1.173 to 0.158mm after calibration, which means that the proposed method can improve the absolute positioning accuracy of industrial robots effectively and extend its range of applications greatly.
KW - Absolute positioning accuracy
KW - Compliance error
KW - Error compensation
KW - Geometrical parameter error
KW - Industrial robot
UR - http://www.scopus.com/inward/record.url?scp=85017312356&partnerID=8YFLogxK
U2 - 10.3969/j.issn.1000-565X.2016.11.017
DO - 10.3969/j.issn.1000-565X.2016.11.017
M3 - 文章
AN - SCOPUS:85017312356
SN - 1000-565X
VL - 44
SP - 113
EP - 118
JO - Huanan Ligong Daxue Xuebao/Journal of South China University of Technology (Natural Science)
JF - Huanan Ligong Daxue Xuebao/Journal of South China University of Technology (Natural Science)
IS - 11
ER -