Experimental Analysis on the Effectiveness of Kinematic Error Compensation Methods for Serial Industrial Robots
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 compensat...
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Hindawi Limited
2021-01-01
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Series: | Mathematical Problems in Engineering |
Online Access: | http://dx.doi.org/10.1155/2021/8086389 |
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doaj-f07b4afc27864e6f8049ad035c2732c32021-07-19T01:04:05ZengHindawi LimitedMathematical Problems in Engineering1563-51472021-01-01202110.1155/2021/8086389Experimental Analysis on the Effectiveness of Kinematic Error Compensation Methods for Serial Industrial RobotsYing Zhang0Guifang Qiao1Guangming Song2Aiguo Song3Xiulan Wen4School of AutomationSchool of AutomationSchool of Instrument Science and EngineeringSchool of Instrument Science and EngineeringSchool of AutomationBased 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.http://dx.doi.org/10.1155/2021/8086389 |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Ying Zhang Guifang Qiao Guangming Song Aiguo Song Xiulan Wen |
spellingShingle |
Ying Zhang Guifang Qiao Guangming Song Aiguo Song Xiulan Wen Experimental Analysis on the Effectiveness of Kinematic Error Compensation Methods for Serial Industrial Robots Mathematical Problems in Engineering |
author_facet |
Ying Zhang Guifang Qiao Guangming Song Aiguo Song Xiulan Wen |
author_sort |
Ying Zhang |
title |
Experimental Analysis on the Effectiveness of Kinematic Error Compensation Methods for Serial Industrial Robots |
title_short |
Experimental Analysis on the Effectiveness of Kinematic Error Compensation Methods for Serial Industrial Robots |
title_full |
Experimental Analysis on the Effectiveness of Kinematic Error Compensation Methods for Serial Industrial Robots |
title_fullStr |
Experimental Analysis on the Effectiveness of Kinematic Error Compensation Methods for Serial Industrial Robots |
title_full_unstemmed |
Experimental Analysis on the Effectiveness of Kinematic Error Compensation Methods for Serial Industrial Robots |
title_sort |
experimental analysis on the effectiveness of kinematic error compensation methods for serial industrial robots |
publisher |
Hindawi Limited |
series |
Mathematical Problems in Engineering |
issn |
1563-5147 |
publishDate |
2021-01-01 |
description |
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. |
url |
http://dx.doi.org/10.1155/2021/8086389 |
work_keys_str_mv |
AT yingzhang experimentalanalysisontheeffectivenessofkinematicerrorcompensationmethodsforserialindustrialrobots AT guifangqiao experimentalanalysisontheeffectivenessofkinematicerrorcompensationmethodsforserialindustrialrobots AT guangmingsong experimentalanalysisontheeffectivenessofkinematicerrorcompensationmethodsforserialindustrialrobots AT aiguosong experimentalanalysisontheeffectivenessofkinematicerrorcompensationmethodsforserialindustrialrobots AT xiulanwen experimentalanalysisontheeffectivenessofkinematicerrorcompensationmethodsforserialindustrialrobots |
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1721295613037903872 |