Positioning Error Compensation for Industrial Robots Based on Stiffness Modelling
Insufficient stiffness of industrial robots is a significant factor which affects its positioning accuracy. To improve the positioning accuracy, a novel positioning error compensation method based on the stiffness modelling is proposed in this paper. First, the positioning errors considering the end...
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| Format: | Article |
| Language: | English |
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Wiley
2020-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2020/8850751 |
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| _version_ | 1850213964199231488 |
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| author | Yingjie Li Guanbin Gao Fei Liu |
| author_facet | Yingjie Li Guanbin Gao Fei Liu |
| author_sort | Yingjie Li |
| collection | DOAJ |
| description | Insufficient stiffness of industrial robots is a significant factor which affects its positioning accuracy. To improve the positioning accuracy, a novel positioning error compensation method based on the stiffness modelling is proposed in this paper. First, the positioning errors considering the end load and gravity of industrial robots due to stiffness are analyzed. Based on the results of analysis, it is found that the positioning errors can be described by two kinds of deformation errors at joints: the axial deformation error and the radial deformation error. Then, the axial deformation error is modelled by the differential relationship of kinematics equations. The model of radial deformation error is deduced through the recurrence method and rotation transformation between joints. Finally, these two models are transformed into a Cartesian coordinate system, and a positioning error compensation method based on these two models is presented. Simulations based on the finite element analysis are implemented to verify the positioning error compensation method. The results show that the suggested method can efficiently predict the positioning error according to the gravity and loads, so that the positioning accuracy of industrial robots can be improved with the proposed method. |
| format | Article |
| id | doaj-art-839dca99c33b4ca385cdad6dd83991f6 |
| institution | OA Journals |
| issn | 1076-2787 1099-0526 |
| language | English |
| publishDate | 2020-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-839dca99c33b4ca385cdad6dd83991f62025-08-20T02:09:01ZengWileyComplexity1076-27871099-05262020-01-01202010.1155/2020/88507518850751Positioning Error Compensation for Industrial Robots Based on Stiffness ModellingYingjie Li0Guanbin Gao1Fei Liu2Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming 650500, ChinaFaculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming 650500, ChinaFaculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming 650500, ChinaInsufficient stiffness of industrial robots is a significant factor which affects its positioning accuracy. To improve the positioning accuracy, a novel positioning error compensation method based on the stiffness modelling is proposed in this paper. First, the positioning errors considering the end load and gravity of industrial robots due to stiffness are analyzed. Based on the results of analysis, it is found that the positioning errors can be described by two kinds of deformation errors at joints: the axial deformation error and the radial deformation error. Then, the axial deformation error is modelled by the differential relationship of kinematics equations. The model of radial deformation error is deduced through the recurrence method and rotation transformation between joints. Finally, these two models are transformed into a Cartesian coordinate system, and a positioning error compensation method based on these two models is presented. Simulations based on the finite element analysis are implemented to verify the positioning error compensation method. The results show that the suggested method can efficiently predict the positioning error according to the gravity and loads, so that the positioning accuracy of industrial robots can be improved with the proposed method.http://dx.doi.org/10.1155/2020/8850751 |
| spellingShingle | Yingjie Li Guanbin Gao Fei Liu Positioning Error Compensation for Industrial Robots Based on Stiffness Modelling Complexity |
| title | Positioning Error Compensation for Industrial Robots Based on Stiffness Modelling |
| title_full | Positioning Error Compensation for Industrial Robots Based on Stiffness Modelling |
| title_fullStr | Positioning Error Compensation for Industrial Robots Based on Stiffness Modelling |
| title_full_unstemmed | Positioning Error Compensation for Industrial Robots Based on Stiffness Modelling |
| title_short | Positioning Error Compensation for Industrial Robots Based on Stiffness Modelling |
| title_sort | positioning error compensation for industrial robots based on stiffness modelling |
| url | http://dx.doi.org/10.1155/2020/8850751 |
| work_keys_str_mv | AT yingjieli positioningerrorcompensationforindustrialrobotsbasedonstiffnessmodelling AT guanbingao positioningerrorcompensationforindustrialrobotsbasedonstiffnessmodelling AT feiliu positioningerrorcompensationforindustrialrobotsbasedonstiffnessmodelling |