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Error compensation based on surface reconstruction for industrial robot on two-dimensional manifold

Guanhua Li (Beijing Innowind Aerospace Equipment Co., Ltd., Beijing, China)
Wei Dong Zhu (State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou, China)
Huiyue Dong (State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou, China)
Yinglin Ke (Key Laboratory of Advanced Manufacturing Technology of Zhejiang Province, School of Mechanical Engineering, Zhejiang University, Hangzhou, China)

Industrial Robot

ISSN: 0143-991x

Article publication date: 10 November 2021

Issue publication date: 1 June 2022

193

Abstract

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.

Keywords

Acknowledgements

This research was supported by the National Natural Science Foundation of China (Grant No. 51805478, 51675479, 91748204, 91948301) and the Key Research and Development Project of Zhejiang Province (2020C01039).

Citation

Li, G., Zhu, W.D., Dong, H. and Ke, Y. (2022), "Error compensation based on surface reconstruction for industrial robot on two-dimensional manifold", Industrial Robot, Vol. 49 No. 4, pp. 735-744. https://doi.org/10.1108/IR-08-2021-0167

Publisher

:

Emerald Publishing Limited

Copyright © 2020, Emerald Publishing Limited

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