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Study of error compensations and sensitivity analysis for 6-Dof serial robot

Study of error compensations and sensitivity analysis for 6-Dof serial robot The purpose of this paper is to improve the positioning accuracy of 6-Dof serial robot by the way of error compensation and sensitivity analysis.Design/methodology/approachIn this paper, the Denavit–Hartenberg matrix is used to construct the kinematics models of the robot; the effects from individual joint and several joints on the end effector are estimated by simulation. Then, an error model based on joint clearance is proposed so that the positioning accuracy at any position of joints can be predicted for compensation. Through the simulation of the curve path, the validity of the error compensation model is verified. Finally, the experimental results show that the error compensation method can improve the positioning accuracy of a two joint exoskeleton robot by nearly 76.46%.FindingsThrough the analysis of joint error sensitivity, it is found that the first three joints, especially joint 2, contribute a lot to the positioning accuracy of the robot, which provides guidance for the accuracy allocation of the robot. In addition, this paper creatively puts forward the error model based on joint clearance, and the error compensation method which decouples the positioning accuracy into joint errors.Originality/valueIt provides a new idea for error modeling and error compensation of 6-Dof serial robot. Combining sensitivity analysis results with error compensation can effectively improve the positioning accuracy of the robot, and provide convenience for welding robot and other robots that need high positioning accuracy. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Engineering Computations Emerald Publishing

Study of error compensations and sensitivity analysis for 6-Dof serial robot

Luo, Xi; Zhang, Yingjie; Zhang, Lin
Engineering Computations , Volume 38 (4): 18 – Jun 17, 2021
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Publisher
Emerald Publishing
Copyright
© Emerald Publishing Limited
ISSN
0264-4401
DOI
10.1108/ec-03-2020-0128
Publisher site
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Abstract

The purpose of this paper is to improve the positioning accuracy of 6-Dof serial robot by the way of error compensation and sensitivity analysis.Design/methodology/approachIn this paper, the Denavit–Hartenberg matrix is used to construct the kinematics models of the robot; the effects from individual joint and several joints on the end effector are estimated by simulation. Then, an error model based on joint clearance is proposed so that the positioning accuracy at any position of joints can be predicted for compensation. Through the simulation of the curve path, the validity of the error compensation model is verified. Finally, the experimental results show that the error compensation method can improve the positioning accuracy of a two joint exoskeleton robot by nearly 76.46%.FindingsThrough the analysis of joint error sensitivity, it is found that the first three joints, especially joint 2, contribute a lot to the positioning accuracy of the robot, which provides guidance for the accuracy allocation of the robot. In addition, this paper creatively puts forward the error model based on joint clearance, and the error compensation method which decouples the positioning accuracy into joint errors.Originality/valueIt provides a new idea for error modeling and error compensation of 6-Dof serial robot. Combining sensitivity analysis results with error compensation can effectively improve the positioning accuracy of the robot, and provide convenience for welding robot and other robots that need high positioning accuracy.

Journal

Engineering Computations – Emerald Publishing

Published: Jun 17, 2021

Keywords: 6-Dof serial robot; Error compensation; Joint clearance; Kinematics analysis; Sensibility analysis

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