| contributor author | Li, Bo | |
| contributor author | Zhang, Wei | |
| contributor author | Li, Yufei | |
| contributor author | Tian, Wei | |
| contributor author | Wang, Changrui | |
| date accessioned | 2022-05-08T09:05:14Z | |
| date available | 2022-05-08T09:05:14Z | |
| date copyright | 4/22/2022 12:00:00 AM | |
| date issued | 2022 | |
| identifier issn | 0022-0434 | |
| identifier other | ds_144_07_071003.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl1/handle/yetl/4284714 | |
| description abstract | Industrial robots play an important role in the transformation and upgrading of aviation manufacturing technology by their advantages of high flexibility, high efficiency, and low costs compared to the conventional computerised numerical control machine. However, due to the serial structure design of the main body, the industrial robot has low absolute positional accuracy, which limits its popularization and application in the field of high-precision manufacturing. The purpose of this paper is to develop a robot accuracy improvement method using feedforward compensation and joint closed-loop feedback correction considering the influence of joint backlash. The experimental results show that the positional error of the compensated robot by the proposed method is reduced from 0.76 mm to 0.18 mm under no-load conditions, and the hole's positional accuracy is to 0.25 mm in the robotic drilling experiment. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Positional Accuracy Improvement of an Industrial Robot Using Feedforward Compensation and Feedback Control | |
| type | Journal Paper | |
| journal volume | 144 | |
| journal issue | 7 | |
| journal title | Journal of Dynamic Systems, Measurement, and Control | |
| identifier doi | 10.1115/1.4054312 | |
| journal fristpage | 71003-1 | |
| journal lastpage | 71003-14 | |
| page | 14 | |
| tree | Journal of Dynamic Systems, Measurement, and Control:;2022:;volume( 144 ):;issue: 007 | |
| contenttype | Fulltext | |
