Novel Kinematic Model of a SCARA-type Robot with Bi-directional Angular Positioning Deviation of Rotary Axes
The International Journal of Advanced Manufacturing Technology 120 巻
4901-4915 頁
2022-03-23 発行
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| ファイル情報(添付) | |
| タイトル ( eng ) |
Novel Kinematic Model of a SCARA-type Robot with Bi-directional Angular Positioning Deviation of Rotary Axes
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| 作成者 |
Zhao Nan
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| 収録物名 |
The International Journal of Advanced Manufacturing Technology
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| 巻 | 120 |
| 開始ページ | 4901 |
| 終了ページ | 4915 |
| 収録物識別子 |
EISSN 1433-3015
NCID AA11625403
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| 抄録 |
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.
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| 著者キーワード |
Calibration
Compensation
Kinematic model
Industrial robot
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| 言語 |
英語
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| 資源タイプ | 学術雑誌論文 |
| 出版者 |
Springer
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| 発行日 | 2022-03-23 |
| 権利情報 |
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。
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| 出版タイプ | Accepted Manuscript（出版雑誌の一論文として受付されたもの。内容とレイアウトは出版社の投稿様式に沿ったもの） |
| アクセス権 | オープンアクセス |
| 収録物識別子 |
[DOI] https://doi.org/10.1007/s00170-022-08943-5
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| 助成機関名 |
日本学術振興会
Japan Society for the Promotion of Science
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| 助成機関識別子 |
[Crossref Funder] https://doi.org/10.13039/501100001691
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| 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
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| 研究課題番号 |
18K03874
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