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A Deformation Error Prediction Method for Industrial Robots Based on Error Superposition

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Intelligent Robotics and Applications (ICIRA 2024)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 15208))

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Abstract

To improve the precision of robot machining, a deformation error prediction method for industrial robots based on error superposition, Deformation Error Prediction Fusion Model (DEPFM), is proposed in this paper. Based on the approximate linear relationship between the external force and the deformation error of the robot, the superposition principle of the deformation error is derived. Based on the Extreme Learning Machine (ELM), a Deformation Error Prediction sub-Model (DEPsM) is established, which is suitable for special external force. Finally, DEPsM is fused to get DEPFM for any external force according to the superposition principle of deformation errors. After verifying its effectiveness through simulation, the deformation error prediction experiment is carried out on an industrial robot, and the DEPFM is compared with the traditional stiffness model. The experimental results show that DEPFM can accurately predict the deformation error of the robot with the average prediction error of 30 \(\upmu {\rm m}\) and the prediction accuracy of 93.7%. Compared with the traditional stiffness model, the average prediction error is reduced by 63.8%.

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Acknowledgements

This work was supported by the Science and Technology Project of Guangzhou (No. 202201010072), the National Natural Science Foundation of China (No. 51805172), and the Guangdong Basic and Applied Basic Research Foundation (No. 2019A1515011515).

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Authors and Affiliations

  1. Guangdong Provincial Key Laboratory of Precision Equipment and Manufacturing Technology, South China University of Technology, Guangzhou, 510640, China

    Zhenya He, Haolun Yuan & Xianmin Zhang

  2. School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou, 510640, China

    Zhenya He & Xianmin Zhang

Authors
  1. Zhenya He
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  2. Haolun Yuan
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  3. Xianmin Zhang
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Corresponding author

Correspondence to Zhenya He .

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Editors and Affiliations

  1. Xi’an Jiaotong University, Xi’an, China

    Xuguang Lan

  2. Xi’an Jiaotong University, Xi’an, China

    Xuesong Mei

  3. Xi’an Jiaotong University, Xi’an, China

    Caigui Jiang

  4. Xi’an Jiaotong University, Xi’an, China

    Fei Zhao

  5. Xi'an Jiaotong University, Xi'an, China

    Zhiqiang Tian

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He, Z., Yuan, H., Zhang, X. (2025). A Deformation Error Prediction Method for Industrial Robots Based on Error Superposition. In: Lan, X., Mei, X., Jiang, C., Zhao, F., Tian, Z. (eds) Intelligent Robotics and Applications. ICIRA 2024. Lecture Notes in Computer Science(), vol 15208. Springer, Singapore. https://doi.org/10.1007/978-981-96-0783-9_26

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  • DOI: https://doi.org/10.1007/978-981-96-0783-9_26

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-96-0782-2

  • Online ISBN: 978-981-96-0783-9

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