Research of the Method of Parameter Identification and Error Compensation of Industrial Robot
Aiming at the lower absolute positioning accuracy of robot,the compensation method of establishing the robot kinematics error model through D- H method is put forward. However,the robot structure needs to meet the Pieper law,so only the influence of the joint rotation angle of the robot error model...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2015-01-01
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| Series: | Jixie chuandong |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2015.09.008 |
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| _version_ | 1841548564751187968 |
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| author | Qi Fei Ping Xueliang Liu Jie Jiang Yi |
| author_facet | Qi Fei Ping Xueliang Liu Jie Jiang Yi |
| author_sort | Qi Fei |
| collection | DOAJ |
| description | Aiming at the lower absolute positioning accuracy of robot,the compensation method of establishing the robot kinematics error model through D- H method is put forward. However,the robot structure needs to meet the Pieper law,so only the influence of the joint rotation angle of the robot error model on the robot end error is taken in consideration. The real joint rotation angle of error model can be identified by using the least square method to compensate the error,Meanwhile,and the second time compensation is carried out by using the circle method. At last,the corrected parameters is compensated to the controller so as to improve the absolute positioning accuracy. The method is verified on the developed industrial robot with 6- DOF. The positioning accuracy is improved from 3. 55 <sup> </sup>4. 45 mm to 0. 924 <sup> </sup>1. 242 mm after compensation,the effect is obvious and a reliable basis for the research of robot accuracy is also provided. |
| format | Article |
| id | doaj-art-446e3f6a9f0c4ee4acb29da123d71b4b |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2015-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-446e3f6a9f0c4ee4acb29da123d71b4b2025-01-10T14:04:59ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392015-01-0139323629919247Research of the Method of Parameter Identification and Error Compensation of Industrial RobotQi FeiPing XueliangLiu JieJiang YiAiming at the lower absolute positioning accuracy of robot,the compensation method of establishing the robot kinematics error model through D- H method is put forward. However,the robot structure needs to meet the Pieper law,so only the influence of the joint rotation angle of the robot error model on the robot end error is taken in consideration. The real joint rotation angle of error model can be identified by using the least square method to compensate the error,Meanwhile,and the second time compensation is carried out by using the circle method. At last,the corrected parameters is compensated to the controller so as to improve the absolute positioning accuracy. The method is verified on the developed industrial robot with 6- DOF. The positioning accuracy is improved from 3. 55 <sup> </sup>4. 45 mm to 0. 924 <sup> </sup>1. 242 mm after compensation,the effect is obvious and a reliable basis for the research of robot accuracy is also provided.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2015.09.008 |
| spellingShingle | Qi Fei Ping Xueliang Liu Jie Jiang Yi Research of the Method of Parameter Identification and Error Compensation of Industrial Robot Jixie chuandong |
| title | Research of the Method of Parameter Identification and Error Compensation of Industrial Robot |
| title_full | Research of the Method of Parameter Identification and Error Compensation of Industrial Robot |
| title_fullStr | Research of the Method of Parameter Identification and Error Compensation of Industrial Robot |
| title_full_unstemmed | Research of the Method of Parameter Identification and Error Compensation of Industrial Robot |
| title_short | Research of the Method of Parameter Identification and Error Compensation of Industrial Robot |
| title_sort | research of the method of parameter identification and error compensation of industrial robot |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2015.09.008 |
| work_keys_str_mv | AT qifei researchofthemethodofparameteridentificationanderrorcompensationofindustrialrobot AT pingxueliang researchofthemethodofparameteridentificationanderrorcompensationofindustrialrobot AT liujie researchofthemethodofparameteridentificationanderrorcompensationofindustrialrobot AT jiangyi researchofthemethodofparameteridentificationanderrorcompensationofindustrialrobot |