Research on error compensation of robot based on multi-hole measurement technology and particle swarm optimization

doi:10.19682/j.cnki.1005-8885.2021.2008

中国邮电高校学报(英文) ›› 2021, Vol. 28 ›› Issue (4): 88-96.doi: 10.19682/j.cnki.1005-8885.2021.2008

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Research on error compensation of robot based on multi-hole measurement technology and particle swarm optimization

Wang Xianlun, Sun Yuxuan, Wang Dong, Hu Xiaowei

School of Electrical and Mechanical Engineering, Qingdao University of Science and Technology, Qingdao 266000, China

收稿日期:2020-08-04 修回日期:2021-06-07 接受日期:2021-07-29 出版日期:2021-08-31 发布日期:2021-10-11
通讯作者: Corresponding author: Wang Xianlun, E-mail: xlwang@126.com E-mail:xlwang@126.com

Research on error compensation of robot based on multi-hole measurement technology and particle swarm optimization

Wang Xianlun, Sun Yuxuan, Wang Dong, Hu Xiaowei

School of Electrical and Mechanical Engineering, Qingdao University of Science and Technology, Qingdao 266000, China

Received:2020-08-04 Revised:2021-06-07 Accepted:2021-07-29 Online:2021-08-31 Published:2021-10-11
Contact: Corresponding author: Wang Xianlun, E-mail: xlwang@126.com E-mail:xlwang@126.com

摘要/Abstract

摘要： Robot error compensation is a technique for enhancing the positioning accuracy of the system. This paper presented an error measuring technique for serial robots based on the multi-hole measuring method, combined with the intelligent particle swarm optimisation (PSO) to obtain the optimal solution of the robot's error compensation values, thereby improving the positioning accuracy of the robot. In the experiment, the robot error was measured using self-made multi-hole measuring plates and probes, and the experimental data were combined with PSO for the error comprehensive analysis. The results showed that on this type of serial robot, the multi-hole measuring method and PSO algorithm had obvious error compensation effects, which effectively improved the positioning accuracy of the robot, with the error reduced by 35% after compensation.

关键词: error model, multi-hole measuring technique, particle swarm optimisation, error compensation

Abstract: Robot error compensation is a technique for enhancing the positioning accuracy of the system. This paper presented an error measuring technique for serial robots based on the multi-hole measuring method, combined with the intelligent particle swarm optimisation (PSO) to obtain the optimal solution of the robot's error compensation values, thereby improving the positioning accuracy of the robot. In the experiment, the robot error was measured using self-made multi-hole measuring plates and probes, and the experimental data were combined with PSO for the error comprehensive analysis. The results showed that on this type of serial robot, the multi-hole measuring method and PSO algorithm had obvious error compensation effects, which effectively improved the positioning accuracy of the robot, with the error reduced by 35% after compensation.

Key words: error model, multi-hole measuring technique, particle swarm optimisation, error compensation

中图分类号:

TH115

Wang Xianlun, Sun Yuxuan, Wang Dong, Hu Xiaowei. Research on error compensation of robot based on multi-hole measurement technology and particle swarm optimization[J]. The Journal of China Universities of Posts and Telecommunications, 2021, 28(4): 88-96.

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Research on error compensation of robot based on multi-hole measurement technology and particle swarm optimization

Research on error compensation of robot based on multi-hole measurement technology and particle swarm optimization

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