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| An Accuracy Compensation Method for Industrial Robot Based on Optimized Correlation Model |
| CHENG Simiao 1 , TIAN Wei 1 , LI Bo 1 , LIAO Wenhe 2 |
1. Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;
2. Nanjing University of Science and Technology, Nanjing 210094, China |
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Abstract Due to the low absolute positioning accuracy, industrial robots are difficult to be directly applied to aerospace high precision manufacturing. In order to improve the absolute positioning accuracy of industrial robot, a robot accuracy compensation method based on optimized correlation model is proposed. Based on the principle of error similarity, the mathematical relationship between robot positioning error and joint angle is constructed. The simulation results show that the influence of different correlation models on accuracy compensation effect is analyzed. Finally, the optimal model is selected through experiments. The experimental results show that the proposed method can improve the absolute positioning accuracy of industrial robot from 1.8057mm to 0.2902mm. The research results of this paper provide a technical means to promote the application of industrial robots in aerospace high precision manufacturing.
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2021, 
