Accuracy Compensation Technology for Robot Based on Mechanical Joint Feedback
LIU Shuanglong1, TIAN Wei1, HE Xiaoxu2, TAN Hong2, LIAO Wenhe1, ZHANG Lin1
1. College of Mechanical and ELectrical Engineering, Nanjing University of Aeronautics and Astronautics,Nanjing 210016, China;
2. AVIC Chengdu Aircraft Industry Co., Ltd., Chengdu 610092, China
Industrial robots have been increasingly applied to aircraft automation assembly lines due to their high flexibility and low cost, but poor absolute positioning accuracy of industrial robot is the bottleneck that constrains their development. In order to further improve the positioning accuracy of the robot, a positioning accuracy method based on mechanical joint feedback is proposed. This method is applied to control the robot by installing the absolute gratings at the joints and the semi-closed-loop control is established for reducing the effect of the joint error on the position of the end effector and increasing the positioning accuracy of joints. The experimental result shows that the absolute error of the robot is reduced from 1.125mm to 0.167mm. This method can effectively improve the absolute positioning accuracy of the robot and realizes the high precision control of the robot.
2018, 
