Research on Absolute Positioning Error of Robot Based on Mapping Theory

Guan Hua Dong; Ying Yin; Xiao Bing Hu

doi:10.4028/www.scientific.net/AMM.494-495.1156

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 494-495Research on Absolute Positioning Error of Robot...

Research on Absolute Positioning Error of Robot Based on Mapping Theory

Abstract:

Joint-typical Industrial robots tend to have higher repetitive positioning accuracy and lower absolute positioning accuracy. In order to improve the absolute positioning accuracy of robots, this paper puts forward a compensation algorithm based on the mapping theory combining with the kinematics equation, which establish the connection between the space of off-line programming and teaching-programming, so as to approximate the repeat positioning accuracy. A experiment is implemented to confirm its correctness, and the result shows that the supposed method can improve the absolute positioning accuracy heavily, which the absolute positioning error reduces from 8.32mm to 1.08mm.

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Periodical:

Applied Mechanics and Materials (Volumes 494-495)

Pages:

1156-1160

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.494-495.1156

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Online since:

February 2014

Authors:

Guan Hua Dong, Ying Yin*, Xiao Bing Hu

Keywords:

Absolute Positioning Error, Mapping Theory, Robot

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* - Corresponding Author

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