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Experimental Analysis on the Effectiveness of Kinematic Error Compensation Methods for Serial Industrial Robots
- Source :
- Mathematical Problems in Engineering, Vol 2021 (2021)
- Publication Year :
- 2021
- Publisher :
- Hindawi Limited, 2021.
-
Abstract
- Based on the established serial 6-DOF robot calibration experiment platform, this paper aims to analyze and compare the effects of four error compensation methods, which are pseudotarget iteration-based error compensation method with three different forms and the Newton–Raphson-based error compensation method. Firstly, the pose error model of the serial robot is established based on the M-DH model in this paper. The calibration results show that the accuracy of the Staubli TX60 robot has been greatly improved. The average comprehensive position accuracy is increased by 88.7%, and the average comprehensive attitude accuracy is increased by 56.6%. Secondly, the principles of the four error compensation methods are discussed, and the effectiveness of the four error compensation methods are compared through experiments. The results show that the four error compensation methods can achieve error compensation well. The compensation accuracy is consistent with the identification accuracy of the kinematic model. The pseudotarget iteration with differential form has the best performance by the comprehensive consideration of accuracy and computational efficiency. Error compensation determines whether the accuracy of the identified model can be achieved. This paper presents a systematic experimental validation research on the effectiveness of four error compensation methods, which provides a reliable reference for the kinematic error compensation of industrial robots.
- Subjects :
- 0209 industrial biotechnology
Article Subject
Robot calibration
Calibration (statistics)
Computer science
General Mathematics
General Engineering
Compensation methods
02 engineering and technology
Kinematics
Engineering (General). Civil engineering (General)
Compensation (engineering)
Identification (information)
020303 mechanical engineering & transports
020901 industrial engineering & automation
0203 mechanical engineering
Position (vector)
Control theory
QA1-939
Robot
TA1-2040
Mathematics
Subjects
Details
- ISSN :
- 15635147 and 1024123X
- Volume :
- 2021
- Database :
- OpenAIRE
- Journal :
- Mathematical Problems in Engineering
- Accession number :
- edsair.doi.dedup.....86b21e9618e9e59569b97a27646c221e