Inclusion of Bidirectional Angular Positioning Deviations in the Kinematic Model of a Six-DOF Articulated Robot for Static Volumetric Error Compensation
Inclusion of Bidirectional Angular Positioning Deviations in the Kinematic Model of a Six-DOF Articulated Robot for Static Volumetric Error Compensation
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DOI：
10.1109/tmech.2022.3156056
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发表时间：
2022-12
期刊：
影响因子：
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通讯作者：
M. Alam;S. Ibaraki;Koki Fukuda;S. Morita;H. Usuki;Naohiro Otsuki;Hirotaka Yoshioka
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文献类型：
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作者：
M. Alam;S. Ibaraki;Koki Fukuda;S. Morita;H. Usuki;Naohiro Otsuki;Hirotaka Yoshioka
为了提高机器人的绝对定位精度，研究人员广泛研究了包含旋转轴平均线位置和方向误差的机器人运动学模型，广泛称为Denavit-Hartenberg（D-H）参数。为进一步提高工业机器人的绝对定位精度，提出了一种新的运动学模型及其辨识方案。建议的串联工业机器人的运动学模型包含每个旋转轴的双向角定位偏差，表示在一个查找表中，除了它的D-H参数。旋转轴的角定位偏差被建模为角命令位置的函数，沿着旋转方向以建模齿隙的影响。本文还提出了一种新的方法来识别所提出的运动学模型与双向角定位偏差使用激光跟踪仪与索引每个旋转轴在指定的角位置（“圆点法”）。此外，基于模型的补偿技术正在进行实验研究，以验证所提出的模型的预测精度。实验结果表明，该模型提高了机器人的绝对定位精度显着超过整个工作空间。
To improve a robot’s absolute positioning accuracy, researchers have extensively studied the robot kinematic model containing position and orientation errors of rotary axis average lines, widely known as Denavit–Hartenberg (D-H) parameters. To further improve the absolute positioning accuracy of industrial robots, this article proposes a novel kinematic model and its identification scheme. The proposed kinematic model for a serial-linked industrial robot contains the bidirectional angular positioning deviations of each rotary axis, represented in a lookup table, in addition to its D-H parameters. The angular positioning deviations of the rotary axes are modeled as a function of angular command positions, along with the direction of rotation to model the influence of backlash. This article also proposes a novel approach to identify the proposed kinematic model with the bidirectional angular positioning deviations using a laser tracker with indexing each rotary axis at specified angular positions (“circle point method”). Moreover, the model-based compensation technique is being experimentally investigated to validate the prediction accuracy of the proposed model. The findings of the experiment show that the proposed model enhances the robot’s absolute positioning accuracy significantly over the entire workspace.