• 综合
  • 标题
  • 关键词
  • 摘要
  • 学者
  • 期刊-刊名
  • 期刊-ISSN
  • 会议名称
搜索

作者:

Jiang, Guanchang (Jiang, Guanchang.) | Ma, Yinglun (Ma, Yinglun.) | Guo, Zhibo (Guo, Zhibo.) | Li, Ming (Li, Ming.) | Chen, Hongfang (Chen, Hongfang.) | Shi, Zhaoyao (Shi, Zhaoyao.)

收录:

EI Scopus SCIE

摘要:

A method based on laser tracing multi-station measurement technology is proposed in this paper. The method identifies the robotic kinematic parameters and compensates for the absolute positioning errors of industrial robots to improve the absolute positioning accuracy further. The position coordinates of industrial robots are typically measured using laser tracking devices. In this study, the measurement accuracy of an industrial robot is further enhanced using laser tracer multi-station measurement technology. Additionally, the least absolute shrinkage and selection operator (LASSO) algorithm was used to identify the robotic kinematic parameters. Compared with the commonly used least squares algorithm, the LASSO algorithm improved the parameter identification accuracy and the compensation effect on absolute positioning errors. A position error model was established based on the parameters of the modified Denavit-Hartenberg model of an industrial robot. Using the LASSO algorithm, the robotic kinematic parameters were accurately identified, and the original data in the controller were replaced to compensate for the geometric errors of the industrial robot. In the compensation experiments, after implementing the geometric error compensation, the average absolute positioning error of the industrial robot decreased by 41.15%, demonstrating a significant improvement in the absolute positioning accuracy.

关键词:

robotic parameter identification positioning error laser tracing multi-station measurement technology industrial robot

作者机构:

  • [ 1 ] [Jiang, Guanchang]Beijing Univ Technol, Beijing Engn Res Ctr Precis Measurement Technol &, Beijing 100124, Peoples R China
  • [ 2 ] [Ma, Yinglun]Beijing Univ Technol, Beijing Engn Res Ctr Precis Measurement Technol &, Beijing 100124, Peoples R China
  • [ 3 ] [Guo, Zhibo]Beijing Univ Technol, Beijing Engn Res Ctr Precis Measurement Technol &, Beijing 100124, Peoples R China
  • [ 4 ] [Chen, Hongfang]Beijing Univ Technol, Beijing Engn Res Ctr Precis Measurement Technol &, Beijing 100124, Peoples R China
  • [ 5 ] [Shi, Zhaoyao]Beijing Univ Technol, Beijing Engn Res Ctr Precis Measurement Technol &, Beijing 100124, Peoples R China
  • [ 6 ] [Li, Ming]China Aviat Mfg Technol Res Inst, Beijing 100000, Peoples R China

通讯作者信息:

  • [Chen, Hongfang]Beijing Univ Technol, Beijing Engn Res Ctr Precis Measurement Technol &, Beijing 100124, Peoples R China

电子邮件地址:

查看成果更多字段

相关关键词:

来源 :

MEASUREMENT SCIENCE AND TECHNOLOGY

ISSN: 0957-0233

年份: 2024

期: 5

卷: 35

2 . 4 0 0

JCR@2022

被引次数:

WoS核心集被引频次:

SCOPUS被引频次: 6

ESI高被引论文在榜: 0 展开所有

万方被引频次:

中文被引频次:

近30日浏览量: 0

归属院系:

在线人数/总访问数:360/5037458
地址:北京工业大学图书馆(北京市朝阳区平乐园100号 邮编:100124) 联系我们:010-67392185
版权所有:北京工业大学图书馆 站点建设与维护:北京爱琴海乐之技术有限公司