Positioning Error Compensation for Industrial Robots Based on Stiffness Modelling
Joint Authors
Li, Yingjie
Gao, Guanbin
Liu, Fei
Source
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-11-20
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Li, Yingjie& Gao, Guanbin& Liu, Fei. 2020. Positioning Error Compensation for Industrial Robots Based on Stiffness Modelling. Complexity،Vol. 2020, no. 2020, pp.1-13.
https://search.emarefa.net/detail/BIM-1144900
Modern Language Association (MLA)
Li, Yingjie…[et al.]. Positioning Error Compensation for Industrial Robots Based on Stiffness Modelling. Complexity No. 2020 (2020), pp.1-13.
https://search.emarefa.net/detail/BIM-1144900
American Medical Association (AMA)
Li, Yingjie& Gao, Guanbin& Liu, Fei. Positioning Error Compensation for Industrial Robots Based on Stiffness Modelling. Complexity. 2020. Vol. 2020, no. 2020, pp.1-13.
https://search.emarefa.net/detail/BIM-1144900
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1144900