Robotic error measuring method based on the plane with distance measure function

doi:10.16731/j.cnki.1671-3133.2017.07.007

Modern Manufacturing Engineering ›› 2017, Vol. 442 ›› Issue (7): 31-36.doi: 10.16731/j.cnki.1671-3133.2017.07.007

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Robotic error measuring method based on the plane with distance measure function

Yan Hongzhi^1,2, Jiang Xiaolei^1,2, Han Fenglin^1,2, Zhang Shun^1,2

1 State Key Laboratory of High Performance Complex Manufacturing,Central South University, Changsha 410012,China;
2 College of Mechanical and Electrical Engineering, Central South University,Changsha 410012,China

Received:2016-11-28 Online:2017-07-18 Published:2017-09-29

Abstract

Abstract: To improve robot positioning accuracy affected by robotic error,a robotic error measuring method based on a plane with distance measure function is proposed.Robot kinematics model existing error was expressed by Modified Denavit-Hartenberg(MDH) model.Combined with the distance error model,the distance error on the plane minimal constraint model equations was derived and nonlinear least squares method was used for solving equations.The specific implementation steps of error measuring method were summarized and identification error was determined by simulation.Resistive touch screen used as a measurement tool,the method was applied to the KR5arc robot.The experiments results show that the error decreases after compensation.The method is effective and applicable to most industrial robot error measuring.

Key words: industrial robots, error measurement, distance error, resistive touch screen

CLC Number:

TP242.2

Yan Hongzhi, Jiang Xiaolei, Han Fenglin, Zhang Shun. Robotic error measuring method based on the plane with distance measure function[J]. Modern Manufacturing Engineering, 2017, 442(7): 31-36.

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Robotic error measuring method based on the plane with distance measure function

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