Novel Kinematic Model of a SCARA-type Robot with Bi-directional Angular Positioning Deviation of Rotary Axes

The International Journal of Advanced Manufacturing Technology Volume 120 Page 4901-4915 published_at 2022-03-23
アクセス数 : 53
ダウンロード数 : 55

今月のアクセス数 : 2
今月のダウンロード数 : 5
File
IJAMT_120_4901.pdf 9.88 MB 種類 : fulltext
Title ( eng )
Novel Kinematic Model of a SCARA-type Robot with Bi-directional Angular Positioning Deviation of Rotary Axes
Creator
Zhao Nan
Source Title
The International Journal of Advanced Manufacturing Technology
Volume 120
Start Page 4901
End Page 4915
Journal Identifire
EISSN 1433-3015
NCID AA11625403
Abstract
This paper proposed a kinematic model and its calibration scheme to further improve an industrial robot’s absolute positioning accuracy over the entire workspace. To demonstrate the proposed model and its effectiveness in simplified kinematics, this paper only targets a SCARA (Selective Compliance Assembly Robot Arm) -type robot. The proposed model includes not only link length errors and rotary axis angular offsets, widely known as the Denavit-Hartenberg (D-H) parameters, but also the “error map” of the angular positioning deviation of each rotary axis, modelled as a function of command angular position, and the rotation direction to model the influence of backlash. The angular positioning deviation of each rotary axis is identified by measuring the robot’s end-effector position by a laser tracker with indexing each rotary axis at prescribed angular positions. To verify the validity of the identified model, the effectiveness of the compensation based on it is experimentally investigated. By the compensation, the robot’s average absolute position error was reduced by 33% to 0.034mm. Furthermore, this paper experimentally demonstrates that the proposed model can be extended to the radial error motion, axis-to-axis cross talk, and the three-dimensional positioning with orientation errors of axis average lines.
Keywords
Calibration
Compensation
Kinematic model
Industrial robot
Language
eng
Resource Type journal article
Publisher
Springer
Date of Issued 2022-03-23
Rights
This version of the article has been accepted for publication, after peer review (when applicable) and is subject to Springer Nature's AM terms of use, but is not the Version of Record and does not reflect post-acceptance improvements, or any corrections. The Version of Record is available online at: https://doi.org/10.1007/s00170-022-08943-5
この論文は出版社版ではありません。引用の際には出版社版をご確認、ご利用ください。
Publish Type Accepted Manuscript
Access Rights open access
Source Identifier
[DOI] https://doi.org/10.1007/s00170-022-08943-5
助成機関名
日本学術振興会
Japan Society for the Promotion of Science
助成機関識別子
研究課題名
「ポータブル」ロボット切削加工システムの基礎となる空間精度の新しい測定法
「ポータブル」ロボット切削加工システムの基礎となる空間精度の新しい測定法
研究課題番号
18K03874