Research on Method of Serial Robot Relative Position Correction

Abstract:

For the problem of serial robot structure error, method of relative position correction was researched. An adaptive filtering correction method based on robot joint position feedback was proposed. The method built a robot joint adaptive filtering corrector (AFC) to correct robot joint feedback. The real spatial position of robot end-effector can be got through the forward kinematics computation with the corrected joint feedback. Thus, the robot structure error is corrected. Weights matrices of AFC were trained with relative positions between calibration points on the standard calibration module. The proposed method of relative positions correction provides a new way for serial robot structure error correction, which does not directly modify the robot kinematics design parameters, dose not need measuring equipment, and can be applied in field. The simulation results got with LabVIEW robot module show that the corrected trajectory of robot end-effector is more approaching to its true trajectory than before, which means the robot structure error is effectively corrected.Keywords: Correction; Relative position; Serial robot; Kinematics

• Periodical: Applied Mechanics and Materials (Volumes 719-720)
• Pages: 405-410
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.719-720.405
• Online since: January 2015
• Authors: Yuan Ming Ding, Gang Xiang Guo, Jin Wei Chen
• Keywords: Correction, Kinematics, Relative Position, Serial Robot

References

[1] SONG Yue e, WU Lin. Calibration on module development of Awelding robot off-line programming system [J]. Robot. 2001，23(7): 695-697.

[2] Y. Meng and H. Zhuang, Autonomous robot calibration using vision technology[J]. Robotics and Computer-Integrated Manufacturing. 2007. 8, 23(4): 436-446.

DOI: 10.1016/j.rcim.2006.05.002

[3] I. Ha. Kinematic parameter calibration method for industrial robot manipulator using the relative position[J]. Journal of mechanical science and technology. 2008. 22(6): 1084-1090.

DOI: 10.1007/s12206-008-0305-0

[4] HE Ruibo，ZHAO Yingjun. Experimentation on Identifying the Kinematic Parameters of Serial Mechanism Based on the Product-of-Exponential Formula [J]. Robot. 2011. 1，33(1): 35-39.

DOI: 10.3724/sp.j.1218.2011.00035

[5] ZHANG Wen-zeng, CHEN Qiang. Quick calibration method of part coordinates for arc welding robot [J]. Transactions of The China Welding Institution. 2005. 7，26(7): 1-4.

[6] GAO Qun, ZONG Zhi-jian, XIONG Hui-yun . Modeling and Simulation of Structural Parameter Identification for Robot Manipulators Using Two-step Schemes [J]. , Journal of System Simulation. 2007. 5, 19(10): 2276-2282.