A Robot Calibration Method Based on Joint Angle Division and an Artificial Neural Network

Zhirong Wang, Zhangwei Chen, Yuxiang Wang, Chentao Mao and Qiang Hang

Mathematical Problems in Engineering, 2019, vol. 2019, 1-12

Abstract:

Robot calibration is used to improve the accuracy of the kinematic model to achieve the higher positioning accuracy within the workspace. Due to some nongeometrical reasons such as joint and link flexibility, the errors are unevenly distributed in the workspace. In this case, it is difficult for the existing methods used to improve the absolute positioning accuracy to achieve good results in each region, especially for robots with large self-weights. In this paper, a novel calibration method is proposed, which deals with joint deflection dependent errors to enhance the robot positioning accuracy in the whole workspace. Firstly, the joint angle workspace is divided into several local regions according to the mass distribution of the robot. Then, its geometric parameters are modeled and identified using the Denavit–Hartenberg (DH) model in each region and in the whole workspace separately. Since the nongeometric error sources are difficult to model correctly, an artificial neural network (ANN) is applied to compensate for the nongeometric errors. Finally, the experiments using an 8 degree-of-freedom (DOF) engineering robot are conducted to demonstrate the validity of the proposed method. The combination of the joint angle division and ANN could be an effective solution for the robot calibration, especially for one with a large self-weight.

Date: 2019
References: Add references at CitEc
Citations:

Downloads: (external link)
http://downloads.hindawi.com/journals/MPE/2019/9293484.pdf (application/pdf)
http://downloads.hindawi.com/journals/MPE/2019/9293484.xml (text/xml)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:9293484

DOI: 10.1155/2019/9293484

Access Statistics for this article

More articles in Mathematical Problems in Engineering from Hindawi
Bibliographic data for series maintained by Mohamed Abdelhakeem ().