The Importance of Embedding a General forward Kinematic Model for Industrial Robots with Serial Architecture in Order to Compensate for Positioning Errors

Cozmin Cristoiu (), Mario Ivan, Ionuţ Gabriel Ghionea and Cristina Pupăză
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Cozmin Cristoiu: Faculty of Industrial Engineering and Robotics, University Politehnica of Bucharest, Splaiul Independentei No. 313, 060042 Bucharest, Romania
Mario Ivan: Faculty of Industrial Engineering and Robotics, University Politehnica of Bucharest, Splaiul Independentei No. 313, 060042 Bucharest, Romania
Ionuţ Gabriel Ghionea: Faculty of Industrial Engineering and Robotics, University Politehnica of Bucharest, Splaiul Independentei No. 313, 060042 Bucharest, Romania
Cristina Pupăză: Faculty of Industrial Engineering and Robotics, University Politehnica of Bucharest, Splaiul Independentei No. 313, 060042 Bucharest, Romania

Mathematics, 2023, vol. 11, issue 10, 1-28

Abstract: This paper proposes a methodology for creating simplified structural schemes and forward geometric models for industrial robots with serial architecture, with the goal of reducing thermal deformation errors that negatively impact positioning accuracy during operation. Unlike classical approaches, the proposed methodology introduces modifications to the order of matrix multiplication and incorporates new parameters to create a forward geometric model that better corresponds to the deformation characteristics of these robots. Details are presented on how to build and employ this extended model and integrate it into a thermal error compensation algorithm. The implementation of the algorithm in a software application is presented along with experimental results that demonstrate its effectiveness. This work addresses a real phenomenon that occurs in industrial robot operation and has implications for improving the performance of robots in manufacturing applications.

Keywords: industrial robot; error compensation; general model; simulation; thermal deformation; forward kinematics (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2023
References: View complete reference list from CitEc
Citations: View citations in EconPapers (1)

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