Research on position error measurement and offline compensation of a 5 DOF series robot

Yuyang Chen; Junlong Xu; Yonghe Jin; Yajie Tang; Yu Ren

doi:10.1117/12.3026263

1 April 2024 Research on position error measurement and offline compensation of a 5 DOF series robot

Yuyang Chen, Junlong Xu, Yonghe Jin, Yajie Tang, Yu Ren

Proceedings Volume 13082, Fourth International Conference on Mechanical Engineering, Intelligent Manufacturing, and Automation Technology (MEMAT 2023); 1308209 (2024) https://doi.org/10.1117/12.3026263
Event: 2023 4th International Conference on Mechanical Engineering, Intelligent Manufacturing and Automation Technology (MEMAT 2023), 2023, Guilin, China

Abstract

Aiming at the motion control algorithm of 5-axis industrial robot, this paper establishes a suitable position error analysis model for a KUKA 2700 robot. Based on the variable relationship between the end error of the robot and the parameters of each joint, an approximate compensation method using error mapping is designed based on computer software and numerical simulation tools, which realized the compensation of the position error of the robot and improved the positioning accuracy of the robot. This method is also suitable for error compensation of other mechanism types of robots, and has important application value in robot precision control.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Yuyang Chen, Junlong Xu, Yonghe Jin, Yajie Tang, and Yu Ren "Research on position error measurement and offline compensation of a 5 DOF series robot", Proc. SPIE 13082, Fourth International Conference on Mechanical Engineering, Intelligent Manufacturing, and Automation Technology (MEMAT 2023), 1308209 (1 April 2024); https://doi.org/10.1117/12.3026263

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available