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Calibration of the Industrial Robot End-effector Pose Measurement Error

Published: 28 February 2024 Publication History

Abstract

Industrial robots play an essential role in intelligent manufacturing. The end effector pose accuracy is an important indicator of the robot's ability to complete precision operations. A theoretical model of the robot end effector's pose measurement is proposed based on directional cosine. The measurement of the robot end effector's pose is realized by acquiring the offset angle of the cross line and the position of the center point. A new pose measurement error calibration and compensation method is proposed based on the cubic spline fitting-Pareto particle swarm optimization-echo state network (CSF-PPSO-ESN) algorithm. The experimental results show that the displacement measurement error after compensation is ± 1.5 μm, and the angle measurement error after compensation is ± 2 arcsec. We can conclude that the problem of measuring the robot end effector's pose is solved. It provides a reference for calibrating and compensating for the pose measurement error.

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  1. Calibration of the Industrial Robot End-effector Pose Measurement Error

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    ICCPR '23: Proceedings of the 2023 12th International Conference on Computing and Pattern Recognition
    October 2023
    589 pages
    ISBN:9798400707988
    DOI:10.1145/3633637
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    Published: 28 February 2024

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    Author Tags

    1. Error calibration
    2. Industrial robot end actuator
    3. Pose measurement

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    Funding Sources

    • Shandong Provincial Natural Science Foundation.
    • the Basic Research Projects of Science, Education, and Industry Integration Pilot Project of the Qilu University of Technology (Shandong Academy of Sciences)
    • the Natural Science Foundation of Qingdao

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