Show simple item record

contributor authorQi, Junde
contributor authorChen, Bing
contributor authorZhang, Dinghua
date accessioned2022-02-06T05:43:07Z
date available2022-02-06T05:43:07Z
date copyright7/5/2021 12:00:00 AM
date issued2021
identifier issn1942-4302
identifier otherjmr_13_6_061013.pdf
identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4278611
description abstractIndustrial robots are finding their niche in the field of machining due to their advantages of high flexibility, good versatility, and low cost. However, limited by the low absolute positioning accuracy, there are still huge obstacles in high-precision machining processes such as grinding. Aiming at this problem, a compensation method combining analytical modeling for quantitative errors with spatial interpolation algorithm for random errors is proposed based on the full consideration of the source and characteristics of positioning errors. First, as for the quantitative errors, namely geometric parameter and compliance error in this paper, a kinematics-based error model is constructed taking the coupling effect of errors into consideration. Then avoiding the impact of random errors, the extended Kalman filtering (EKF) algorithm is adopted to identify the error parameters. Second, based on the similarity principle of spatial error, spatial interpolation algorithm is used to model the residual error caused by temperature, gear clearance, etc. Based on the spatial anisotropy characteristics of robot motion performance, an adaptive mesh division algorithm was proposed to balance the accuracy and efficiency of mesh division. Then, an inverse distance weighted interpolation algorithm considering the influence degree of different joints on the end position was established to improve the approximation accuracy of residual error. Finally, the rough-fine two-stage serial error compensation method was carried out. Experimental results show that the mean absolute positioning accuracy is improved from 1.165 mm to 0.106 mm, which demonstrates the effectiveness of the method in this paper.
publisherThe American Society of Mechanical Engineers (ASME)
titleA Calibration Method for Enhancing Robot Accuracy Through Integration of Kinematic Model and Spatial Interpolation Algorithm
typeJournal Paper
journal volume13
journal issue6
journal titleJournal of Mechanisms and Robotics
identifier doi10.1115/1.4051061
journal fristpage061013-1
journal lastpage061013-10
page10
treeJournal of Mechanisms and Robotics:;2021:;volume( 013 ):;issue: 006
contenttypeFulltext


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record