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Error compensation based on surface reconstruction for industrial robot on two-dimensional manifold
Industrial Robot ( IF 1.8 ) Pub Date : 2021-11-10 , DOI: 10.1108/ir-08-2021-0167
Guanhua Li 1 , Wei Dong Zhu 2 , Huiyue Dong 2 , Yinglin Ke 3
Affiliation  

Purpose

This paper aims to present error compensation based on surface reconstruction to improve the positioning accuracy of industrial robots.

Design/methodology/approach

In previous research, it has been proved that the positioning error of industrial robots is continuous on the two-dimensional manifold of six-joint space. The point cloud generated by positioning error data can be used to fit the continuous surfaces, which makes it possible to apply surface reconstruction on error compensation. The moving least-squares interpolation and the B-spline method are used for the error surface reconstruction.

Findings

The results of experiments and simulations validate the effectiveness of error compensation by the moving least-squares interpolation and the B-spline method.

Practical implications

The proposed methods can control the average of compensated positioning error within 0.2 mm, which meets the requirement of a tolerance (±0.5 mm) for fastener hole drilling in aircraft assembly.

Originality/value

The error surface reconstruction based on the B-spline method has great superiority because fewer sample points are needed to use this method than others while keeping the compensation accuracy at the same level. The control points of the B-spline error surface can be adjusted with measured data, which can be applied for the error prediction in any temperature field.



中文翻译:

基于二维流形的工业机器人曲面重构的误差补偿

目的

本文旨在提出基于曲面重构的误差补偿,以提高工业机器人的定位精度。

设计/方法/方法

在以往的研究中,已经证明工业机器人的定位误差在六关节空间的二维流形上是连续的。定位误差数据生成的点云可用于拟合连续曲面,这使得曲面重构应用于误差补偿成为可能。移动最小二乘插值法和B样条法用于误差面重建。

发现

实验和仿真结果验证了移动最小二乘插值法和B样条法误差补偿的有效性。

实际影响

所提出的方法可以将补偿后的定位误差平均控制在0.2 mm以内,满足飞机装配紧固件钻孔公差(±0.5 mm)的要求。

原创性/价值

基于B样条方法的误差面重建具有很大的优越性,因为使用该方法所需的样本点比其他方法少,同时补偿精度保持在同一水平。B样条误差面的控制点可以根据实测数据进行调整,适用于任何温度场的误差预测。

更新日期:2021-11-10
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