Error Similarity Analysis and Error Compensation of Industrial Robots with Uncertainties of TCP Calibration
Source abstract
Abstract
The machining system based on an industrial robot is a new type of equipment to meet the requirements of high quality, high efficiency and high flexibility for large and complex components of aircraft and spacecraft. The error compensation technology is widely used in robotic machining to improve the positioning accuracy of an industrial robot with the intention of meeting the precision requirements of aerospace manufacturing. However, the robot’s positioning accuracy decreases significantly when the orientation of the tool changes dramatically. This stems from the fact that the existing robot compensation methods ignore the uncertainties of Tool Center Point (TCP) calibration. This paper presents a novel regionalized compensation method for improving the positioning accuracy of the robot with calibration uncertainties and large orientation variation of the TCP. The method is experimentally validated through the drilling of curved surface parts of plexiglass using a KUKA KR2830MT robot. Compared with a published error compensation method, the proposed approach improves the positioning accuracy of the robot under the large orientation variation to 0.235 mm. This research can broaden the field of robot calibration technology and further improve the adaptability of robotic machining.
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Research context
OpenAlex topics: Robotic Mechanisms and Dynamics · Advanced Measurement and Metrology Techniques · Manufacturing Process and Optimization
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
Jiangsu Key Laboratory of Precision and Micro-Manufacturing Technology, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
Academy of China Changfeng ELectro-Mechanical Technology, Beijing 100854, China
Hubei Institute of Aerospacecraft, Wuhan 430023, China
Funding
National Natural Science Foundation of China
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