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A novel cascade calibration method for robotic grinding system

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Abstract

This paper presents an efficient cascade calibration method with an improved Levenberg–Marquardt and sine–cosine hybrid algorithm to enhance the absolute positioning accuracy of robotic grinding systems. To expedite convergence in the Levenberg–Marquardt algorithm, a dynamic adaptive weight mechanism is introduced, enhancing global and local search capabilities. Furthermore, a novel learning rate, combining exponential and cosine functions, addresses local optima in the algorithm. The improved Levenberg–Marquardt algorithm is employed to obtain suboptimal values for robot kinematic parameter deviations. Subsequently, these values are used as central points for generating a candidate solution set in the sine–cosine algorithm, resulting in more accurate kinematic parameter deviation identification. This innovative dual-search optimization approach combines the two algorithms. Experimental results confirm the substantial improvements in absolute positioning accuracy and surface machining precision achieved by the proposed model, with the calibration method’s effectiveness verified through experimentation.

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Acknowledgements

This research was funded by the Collaborative Education Program of the Ministry of Education of China (202102145008, 202102145013), Innovation Fund for Industry-university Research of Chinese Universities (No. 2020ITA03041), National Natural Science Foundation of China (62101076); Sichuan Provincial Youth Science Foundation (2022NSFSC0920) and the Talents Start-up Project of Scientific Research in Chengdu University of Information Technology (KYTZ202102, 376157). The Quality of Personnel Training and Reform of Education & Teaching Program of Chengdu Technological University (No. 20210205), The Science and Technology Service Corps Program of Chengdu Technological University (No. 2023FW039).

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Authors and Affiliations

  1. School of Economics and Management, Chengdu Technological University, Chengdu, 611730, Sichuan, China

    Jian Liu

  2. Sichuan Institute of Industrial Big-Data Applications, Chengdu, 611730, China

    Jian Liu, Yonghong Deng & Yulin Liu

  3. Department of Mechanical and Electrical Engineering, Liaocheng University Dongchang College, Liaocheng, 252000, China

    Dong Li

  4. School of Software Engineering, Chengdu University of Information Technology, Chengdu, 610225, China

    Yonghong Deng, Linlin Chen, Peiyang Wei & Zhibin Li

  5. College of Communication Engineering, Chengdu University of Information Technology, Chengdu, 610225, China

    Zhenzen Hu

  6. School of Computer Science and Technology, Chongqing University of Posts and Telecommunications, Chongqing, 400065, China

    Peiyang Wei

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  1. Jian Liu
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  2. Yonghong Deng
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  3. Yulin Liu
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  4. Dong Li
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  5. Linlin Chen
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  6. Zhenzen Hu
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Correspondence to Yonghong Deng or Zhenzen Hu.

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Liu, J., Deng, Y., Liu, Y. et al. A novel cascade calibration method for robotic grinding system. Intel Serv Robotics 17, 505–520 (2024). https://doi.org/10.1007/s11370-024-00534-5

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  • DOI: https://doi.org/10.1007/s11370-024-00534-5

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