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

Alam Md Moktadir

Ibaraki Soichi

Fukuda Koki

Morita Sho

Usuki Hiroshi

Otsuki Naohiro

Yoshioka Hirotaka

IEEE/ASME Transactions on Mechatronics

EISSN 1941-014X

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.

Industrial Robot

Kinematic Model

Angular Positioning Deviation

Laser Tracker

Lookup table

eng

IEEE

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[DOI] https://doi.org/10.1109/TMECH.2022.3156056

日本学術振興会

Japan Society for the Promotion of Science

[Crossref Funder] https://doi.org/10.13039/501100001691

「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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