This paper presents a cascaded methodology for enhancing the path accuracy of industrial robots by using advanced control schemes. It includes kinematic calibration as well as dynamic modeling and identification. This is followed by a centralized model-based compensation of robot dynamics. The implemented feed-forward torque control shows the expected improvements of control accuracy. However, external measurements show the influence of joint elasticities as systematic path errors. To further increase the accuracy an iterative learning controller (ILC) based on external camera measurements is designed. The implementation yields to significant improvements of path accuracy. By means of a kind of automated ”Teach-In”, an overall effective concept for the automated calibration and optimization of the accuracy of industrial robots in high-dynamic path-applications is realized.


    Access

    Download


    Export, share and cite



    Title :

    Iterative Improvement of Path Accuracy of Industrial Robots Using External Measurements



    Publication date :

    2017-01-01



    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    620 / 629





    New quality inspection system for the investigation of static and dynamic path accuracy on industrial robots

    Decker,S. / Prenninger,J. / Tejima,N. et al. | Automotive engineering | 1990


    Path Planning and Path Optimization for Industrial Robots Using Moveit! and ROS Melodic

    Narvekar, Nishant / Siddiqui, Osama / Palchaudhary, Sanket | SAE Technical Papers | 2022


    Path Planning and Path Optimization for Industrial Robots Using Moveit and ROS Melodic

    Palchaudhary, Sanket / Narvekar, Nishant / Siddiqui, Osama | British Library Conference Proceedings | 2022


    Path planning of redundant industrial robots for aerospace asembly

    Derby, S. / Pont, P. du | Tema Archive | 1987