Error compensation method of industrial robots considering non-kinematic and weak rigid base errors

Ma, Shoudong; Deng, Kenan; Lü, Yong; Xu, Xu

doi:10.1016/j.precisioneng.2023.04.007

Cited by 13 publications

(3 citation statements)

References 24 publications

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“…Typically, these lines result from the intersection of different types of tubes, such as circular tubes, spherical tubes, and square tubes. In a previous study [1], as shown in Fig. 2, a robotic milling system mounted on a support platform can be used to machine intersecting holes in large spherical shells.…”

Section: The Toolpath Establishment For Robotic Milling Holementioning

confidence: 99%

“…Vacuum vessels, pressure vessels, and other large spherical shells require machining a large number of intersecting holes with positional constraints, e.g., ball-tube intersecting holes [1,2], pipetube intersecting holes [3], etc. Usually, these intersecting holes have strict positional and axial accuracy requirements concerning the datum coordinate system of the large spherical shells.…”

Section: Introductionmentioning

confidence: 99%

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Integrated robotic machining error compensation for intersecting hole of large spherical shells

ma,

Lu,

Deng

et al. 2024

Preprint

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Industrial robots are emerging for applications in machining critical components such as flange holes for spherical, cylindrical, and other types of vacuum vessel components. However, the main factor limiting their machining applications is the relatively low stiffness of industrial robots, leading to tool path errors during machining. Hence, this paper proposed an integrated error compensation method considering intersecting hole position and axial tolerance constraints. Firstly, a robot machining trajectory is generated, and the cutting allowance and sampling strategy are determined by running the machining trajectory empty run before machining. Then, integrated constraints are introduced, and a new target hole surface is constructed as a mirror surface under the integrated constraints of error compensation. The tool path is adjusted according to the mirror compensation principle to ensure consistency between the machined and nominal holes. The integrated constraints enable a quick and effective assessment of the suitability of the workpiece for precision machining before actual machining, thereby eliminating unnecessary machining of unqualified workpieces and improving productivity. The reconstructed target hole surface satisfies the integrated constraint criterion and achieves a balanced combination of positional and axial tolerances, making full use of both types of tolerances. Finally, the effectiveness of the method is verified on a large workpiece. The experimental results show that the positional error is reduced from uncompensated (1.03, -0.51) mm to compensated (0.25, -0.005) mm, and the axial error of the intersecting hole surface is reduced from uncompensated 22.32 mm to compensated 1.39 mm.

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Section: The Toolpath Establishment For Robotic Milling Holementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Integrated robotic machining error compensation for intersecting hole of large spherical shells

ma,

Lu,

Deng

et al. 2024

Preprint

Self Cite

View full text Add to dashboard Cite

show abstract

“…[36] proposed an adaptive hierarchical compensation method based on fixed-length memory window incremental learning and incremental model reconstruction. Real-time trajectory position error compensation technology that considers non-kinematic errors [37,38] has also been proposed.…”

Section: Introductionmentioning

confidence: 99%

An Off-Line Error Compensation Method for Absolute Positioning Accuracy of Industrial Robots Based on Differential Evolution and Deep Belief Networks

Tao,

Liu,

Chen

et al. 2023

Electronics

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Industrial robots have been increasingly used in the field of intelligent manufacturing. The low absolute positioning accuracy of industrial robots is one of the difficulties in their application. In this paper, an accuracy compensation algorithm for the absolute positioning of industrial robots is proposed based on deep belief networks using an off-line compensation method. A differential evolution algorithm is presented to optimize the networks. Combined with the evidence theory, a position error mapping model is proposed to realize the absolute positioning accuracy compensation of industrial robots. Experiments were conducted using a laser tracker AT901-B on an industrial robot KR6_R700 sixx_CR. The absolute position error of the end of the robot was reduced from 0.469 mm to 0.084 mm, improving the accuracy by 82.14% after the compensation. Experimental results demonstrated that the proposed compensation algorithm could improve the absolute positioning accuracy of industrial robots, as well as its potential uses for precise operational tasks.

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A novel approach for robot calibration based on measurement sub-regions with comparative validation

Toquica,

S.T. Motta

2024

Int J Adv Manuf Technol

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Error compensation method of industrial robots considering non-kinematic and weak rigid base errors

Cited by 13 publications

References 24 publications

Integrated robotic machining error compensation for intersecting hole of large spherical shells

Integrated robotic machining error compensation for intersecting hole of large spherical shells

An Off-Line Error Compensation Method for Absolute Positioning Accuracy of Industrial Robots Based on Differential Evolution and Deep Belief Networks

A novel approach for robot calibration based on measurement sub-regions with comparative validation

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