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Author:

Jiang, Guanchang (Jiang, Guanchang.) | Ma, Yinglun (Ma, Yinglun.) | Guo, Zhibo (Guo, Zhibo.) | Li, Ming (Li, Ming.) | Chen, Hongfang (Chen, Hongfang.) | Shi, Zhaoyao (Shi, Zhaoyao.)

Indexed by:

EI Scopus SCIE

Abstract:

A method based on laser tracing multi-station measurement technology is proposed in this paper. The method identifies the robotic kinematic parameters and compensates for the absolute positioning errors of industrial robots to improve the absolute positioning accuracy further. The position coordinates of industrial robots are typically measured using laser tracking devices. In this study, the measurement accuracy of an industrial robot is further enhanced using laser tracer multi-station measurement technology. Additionally, the least absolute shrinkage and selection operator (LASSO) algorithm was used to identify the robotic kinematic parameters. Compared with the commonly used least squares algorithm, the LASSO algorithm improved the parameter identification accuracy and the compensation effect on absolute positioning errors. A position error model was established based on the parameters of the modified Denavit-Hartenberg model of an industrial robot. Using the LASSO algorithm, the robotic kinematic parameters were accurately identified, and the original data in the controller were replaced to compensate for the geometric errors of the industrial robot. In the compensation experiments, after implementing the geometric error compensation, the average absolute positioning error of the industrial robot decreased by 41.15%, demonstrating a significant improvement in the absolute positioning accuracy.

Keyword:

robotic parameter identification positioning error laser tracing multi-station measurement technology industrial robot

Author Community:

  • [ 1 ] [Jiang, Guanchang]Beijing Univ Technol, Beijing Engn Res Ctr Precis Measurement Technol &, Beijing 100124, Peoples R China
  • [ 2 ] [Ma, Yinglun]Beijing Univ Technol, Beijing Engn Res Ctr Precis Measurement Technol &, Beijing 100124, Peoples R China
  • [ 3 ] [Guo, Zhibo]Beijing Univ Technol, Beijing Engn Res Ctr Precis Measurement Technol &, Beijing 100124, Peoples R China
  • [ 4 ] [Chen, Hongfang]Beijing Univ Technol, Beijing Engn Res Ctr Precis Measurement Technol &, Beijing 100124, Peoples R China
  • [ 5 ] [Shi, Zhaoyao]Beijing Univ Technol, Beijing Engn Res Ctr Precis Measurement Technol &, Beijing 100124, Peoples R China
  • [ 6 ] [Li, Ming]China Aviat Mfg Technol Res Inst, Beijing 100000, Peoples R China

Reprint Author's Address:

  • [Chen, Hongfang]Beijing Univ Technol, Beijing Engn Res Ctr Precis Measurement Technol &, Beijing 100124, Peoples R China

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Source :

MEASUREMENT SCIENCE AND TECHNOLOGY

ISSN: 0957-0233

Year: 2024

Issue: 5

Volume: 35

2 . 4 0 0

JCR@2022

Cited Count:

WoS CC Cited Count:

SCOPUS Cited Count:

ESI Highly Cited Papers on the List: 0 Unfold All

WanFang Cited Count:

Chinese Cited Count:

30 Days PV: 1

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