Positioning accuracy improvement method of industrial robot based on laser tracking measurement
Positioning accuracy is of great significance for industrial robots in high-end industries. In addition to kinematic parameter errors, there are also some dynamic parameter errors, which are nonlinear. This paper proposes a novel method to improve the positioning accuracy of industrial robot, which...
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| Published in | Measurement. Sensors Vol. 18; p. 100235 |
|---|---|
| Main Authors | , , , , |
| Format | Journal Article |
| Language | English |
| Published |
Elsevier Ltd
01.12.2021
Elsevier |
| Subjects | |
| Online Access | Get full text |
| ISSN | 2665-9174 2665-9174 |
| DOI | 10.1016/j.measen.2021.100235 |
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| Abstract | Positioning accuracy is of great significance for industrial robots in high-end industries. In addition to kinematic parameter errors, there are also some dynamic parameter errors, which are nonlinear. This paper proposes a novel method to improve the positioning accuracy of industrial robot, which takes both kinematics and dynamics parameter errors into account. Firstly, the method uses improved Denavit-Hartenberg (DH) model to establish kinematics model and identifies the geometric errors. Then, the deformation of the joint is analysed, and the angle deviation of each joint due to the end load is compensated. Finally, the accuracy improvement experiment is carried out on 6R robot. The experimental results show that the method is very effective. |
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| AbstractList | Positioning accuracy is of great significance for industrial robots in high-end industries. In addition to kinematic parameter errors, there are also some dynamic parameter errors, which are nonlinear. This paper proposes a novel method to improve the positioning accuracy of industrial robot, which takes both kinematics and dynamics parameter errors into account. Firstly, the method uses improved Denavit-Hartenberg (DH) model to establish kinematics model and identifies the geometric errors. Then, the deformation of the joint is analysed, and the angle deviation of each joint due to the end load is compensated. Finally, the accuracy improvement experiment is carried out on 6R robot. The experimental results show that the method is very effective. |
| ArticleNumber | 100235 |
| Author | Zu, Hongfei Chen, Zhangwei Wang, Zhirong Zhang, Xiang Chen, Xuwen |
| Author_xml | – sequence: 1 givenname: Hongfei surname: Zu fullname: Zu, Hongfei email: zuhongfei@zstu.edu.cn organization: School of Mechanical Engineering & Automation, Zhejiang Sci-Tech University, China – sequence: 2 givenname: Xuwen surname: Chen fullname: Chen, Xuwen email: chenxuwen@premax.com.cn organization: Zhejiang Premax Technology Co., Ltd, Ningbo, 315048, China – sequence: 3 givenname: Zhangwei surname: Chen fullname: Chen, Zhangwei email: chenzw@zju.edu.cn organization: State Key Laboratory of Fluid Power and Mechatronics Systems, Zhejiang University, China – sequence: 4 givenname: Zhirong surname: Wang fullname: Wang, Zhirong organization: State Key Laboratory of Fluid Power and Mechatronics Systems, Zhejiang University, China – sequence: 5 givenname: Xiang surname: Zhang fullname: Zhang, Xiang email: gavin@hdu.edu.cn organization: School of Computer Science, Hangzhou Dianzi University, Hangzhou, 310000, China |
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| Cites_doi | 10.1016/j.cirp.2007.05.090 10.1016/0736-5845(96)00005-1 10.1115/1.4011045 10.1109/TMECH.2011.2158234 |
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| Keywords | Joint deformation Laser tracking measurement DH model Positioning accuracy |
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| References | Denavit (bib3) 1955; 22 Abele, Weigold, Rothenbücher (bib7) 2007; 56 Park (bib2) 2012; 17 Zhou, Zhang (bib8) 1991 Zhuang, Roth (bib6) 1996; 12 Stone, Sanderson, Neuman (bib5) 1986 He, Huang (bib1) 2017; 28 Hayati (bib4) 1983 Ren (bib9) 2008; 29 Cai, Zhang, Wu (bib10) 1998; 9 Zhuang (10.1016/j.measen.2021.100235_bib6) 1996; 12 Abele (10.1016/j.measen.2021.100235_bib7) 2007; 56 Hayati (10.1016/j.measen.2021.100235_bib4) 1983 He (10.1016/j.measen.2021.100235_bib1) 2017; 28 Cai (10.1016/j.measen.2021.100235_bib10) 1998; 9 Denavit (10.1016/j.measen.2021.100235_bib3) 1955; 22 Stone (10.1016/j.measen.2021.100235_bib5) 1986 Zhou (10.1016/j.measen.2021.100235_bib8) 1991 Park (10.1016/j.measen.2021.100235_bib2) 2012; 17 Ren (10.1016/j.measen.2021.100235_bib9) 2008; 29 |
| References_xml | – volume: 12 start-page: 169 year: 1996 end-page: 171 ident: bib6 article-title: A note on singularities of the MCPC model publication-title: Robot. Comput. Integrated Manuf. – volume: 9 start-page: 11 year: 1998 end-page: 14 ident: bib10 article-title: Recognition and simulation of actual geometric parameters of robots publication-title: China Machinery Engineering – volume: 17 start-page: 1059 year: 2012 end-page: 1067 ident: bib2 article-title: Laser-based kinematic calibration of robot manipulator using differential kinematics publication-title: IEEE ASME Trans. Mechatron. – start-page: 1477 year: 1983 end-page: 1483 ident: bib4 article-title: Robot arm geometric link parameter estimation publication-title: Proceedings of 1983 IEEE Conference on Decision and Control – volume: 56 start-page: 387 year: 2007 end-page: 390 ident: bib7 article-title: Modeling and identification of an industrial robot for machining applications publication-title: CIRP Ann. - Manuf. Technol. – year: 1986 ident: bib5 article-title: Arm Signature identification[C] – volume: 22 year: 1955 ident: bib3 article-title: Kinematic notation for lower-pair mechanisms based on matrices publication-title: Trans.of the Asme.journal of Applied Mechanics – year: 1991 ident: bib8 article-title: A new model with compensation algorithm for distance errors of robot mechanisms – volume: 29 start-page: 198 year: 2008 end-page: 202 ident: bib9 article-title: Measurement robot calibration model and algorithm based on distance accuracy publication-title: Acta Metrol. Sin. – volume: 28 start-page: 133 year: 2017 end-page: 140 ident: bib1 article-title: Performance test progress of industrial robot publication-title: Journal of China University of metrology – volume: 56 start-page: 387 issue: 1 year: 2007 ident: 10.1016/j.measen.2021.100235_bib7 article-title: Modeling and identification of an industrial robot for machining applications publication-title: CIRP Ann. - Manuf. Technol. doi: 10.1016/j.cirp.2007.05.090 – volume: 9 start-page: 11 issue: 10 year: 1998 ident: 10.1016/j.measen.2021.100235_bib10 article-title: Recognition and simulation of actual geometric parameters of robots publication-title: China Machinery Engineering – year: 1991 ident: 10.1016/j.measen.2021.100235_bib8 – volume: 28 start-page: 133 year: 2017 ident: 10.1016/j.measen.2021.100235_bib1 article-title: Performance test progress of industrial robot publication-title: Journal of China University of metrology – year: 1986 ident: 10.1016/j.measen.2021.100235_bib5 – volume: 12 start-page: 169 issue: 2 year: 1996 ident: 10.1016/j.measen.2021.100235_bib6 article-title: A note on singularities of the MCPC model publication-title: Robot. Comput. Integrated Manuf. doi: 10.1016/0736-5845(96)00005-1 – volume: 29 start-page: 198 issue: 3 year: 2008 ident: 10.1016/j.measen.2021.100235_bib9 article-title: Measurement robot calibration model and algorithm based on distance accuracy publication-title: Acta Metrol. Sin. – volume: 22 year: 1955 ident: 10.1016/j.measen.2021.100235_bib3 article-title: Kinematic notation for lower-pair mechanisms based on matrices publication-title: Trans.of the Asme.journal of Applied Mechanics doi: 10.1115/1.4011045 – start-page: 1477 year: 1983 ident: 10.1016/j.measen.2021.100235_bib4 article-title: Robot arm geometric link parameter estimation – volume: 17 start-page: 1059 issue: 6 year: 2012 ident: 10.1016/j.measen.2021.100235_bib2 article-title: Laser-based kinematic calibration of robot manipulator using differential kinematics publication-title: IEEE ASME Trans. Mechatron. doi: 10.1109/TMECH.2011.2158234 |
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| Title | Positioning accuracy improvement method of industrial robot based on laser tracking measurement |
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