Inclusion of bidirectional angular positioning deviations in the kinematic model of a 6DOF articulated robot for static volumetric error compensation

IEEE/ASME Transactions on Mechatronics Volume 27 Issue 6 Page 4339-4349 published_at 2022-03-18
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Title ( eng )
Inclusion of bidirectional angular positioning deviations in the kinematic model of a 6DOF articulated robot for static volumetric error compensation
Creator
Alam Md Moktadir
Fukuda Koki
Morita Sho
Usuki Hiroshi
Otsuki Naohiro
Yoshioka Hirotaka
Source Title
IEEE/ASME Transactions on Mechatronics
Volume 27
Issue 6
Start Page 4339
End Page 4349
Journal Identifire
EISSN 1941-014X
Abstract
To improve a robot’s absolute positioning accuracy, researchers have extensively studied the robot kinematic model containing position and orientation errors of rotary axes average lines, widely known as Denavit–Hartenberg (D-H) parameters. To further improve the absolute positioning accuracy of industrial robots, this paper proposes a novel kinematic model and its identification scheme. The proposed kinematic model for a serial-linked industrial robot contains the bidirectional angular positioning deviations of each rotary axis, represented in a lookup table, in addition to its D-H parameters. The angular positioning deviations of the rotary axes are modeled as a function of angular command positions, along with the direction of rotation to model the influence of backlash. This paper also proposes a novel approach to identify the proposed kinematic model with the bidirectional angular positioning deviations using a laser tracker with indexing each rotary axis at specified angular positions (“circle point method”). Moreover, the model-based compensation technique is being experimentally investigated to validate the prediction accuracy of the proposed model. The findings o f t he experiment showed t hat t he proposed model enhances the robot’s absolute positioning accuracy significantly over the entire workspace.
Keywords
Industrial Robot
Kinematic Model
Angular Positioning Deviation
Laser Tracker
Lookup table
Language
eng
Resource Type journal article
Publisher
IEEE
Date of Issued 2022-03-18
Rights
© 2022 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
This is not the published version. Please cite only the published version.
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/10.1109/TMECH.2022.3156056
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
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