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Study of a global calibration method for a planar parallel robot mechanism considering joint error

Published online by Cambridge University Press:  16 September 2024

Qinghua Zhang Open the ORCID record for Qinghua Zhang [Opens in a new window] ,
Huaming Yu ,
Lingbo Xie ,
Qinghua Lu  and
Weilin Chen
Qinghua Zhang
Affiliation:
School of Mechatronics Engineering and Automation, Foshan University, Foshan, China Guangdong Provincial Key Laboratory of Industrial Intelligent Inspection Technology, Foshan University, Foshan, China
Huaming Yu
Affiliation:
School of Mechatronics Engineering and Automation, Foshan University, Foshan, China Guangdong Provincial Key Laboratory of Industrial Intelligent Inspection Technology, Foshan University, Foshan, China
Lingbo Xie
Affiliation:
School of Mechatronics Engineering and Automation, Foshan University, Foshan, China Guangdong Provincial Key Laboratory of Industrial Intelligent Inspection Technology, Foshan University, Foshan, China
Qinghua Lu*
Affiliation:
School of Mechatronics Engineering and Automation, Foshan University, Foshan, China Guangdong Provincial Key Laboratory of Industrial Intelligent Inspection Technology, Foshan University, Foshan, China
Weilin Chen
Affiliation:
School of Mechatronics Engineering and Automation, Foshan University, Foshan, China Guangdong Provincial Key Laboratory of Industrial Intelligent Inspection Technology, Foshan University, Foshan, China
*
Corresponding author: Qinghua Lu; Email: [email protected]
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Abstract

In order to improve the positioning accuracy of industrial robots, this paper proposes a global calibration method for planar parallel robot considering joint errors, which solves the problem that the existing calibration methods only consider part of the error sources and the calibration accuracy is poor, and improves the calibration efficiency and robot positioning accuracy. Consequently, it improves calibration efficiency and the overall precision of robot positioning. Firstly, the error model of overdetermined equations combined with structural parameters is established, and the global sensitivity of each error source is analyzed. Based on the measurement data of laser tracker, the local error source is identified by the least square method, which improves the local error accuracy by 88.6%. Then, a global error spatial interpolation method based on inverse distance weighting method is proposed, and the global accuracy is improved by 59.16%. Finally, the radial basis function neural network error prediction model with strong nonlinear approximation function is designed for global calibration, and the accuracy is improved by 63.05%. Experimental results verify the effectiveness of the proposed method. This study not only provides technical support for the engineering application of this experimental platform but also provides theoretical guidance for the improvement of the accuracy of related robot platforms.

Keywords

planar parallel robotpositioning accuracyinverse distance weightingradial basis function neural networkglobal calibration method
Type
Research Article
Information
Robotica , Volume 42 , Issue 8 , August 2024 , pp. 2589 - 2618
Copyright
© The Author(s), 2024. Published by Cambridge University Press

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