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A Modified Orthogonal Experimental Method for Configuration Data Acquisition Planning of Industrial Robots

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Proceedings of 2023 Chinese Intelligent Systems Conference (CISC 2023)

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 1089))

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Abstract

The configuration data is an important factor affecting the stability and generalization ability of calibration results. A data acquisition planning method based on the orthogonal experimental method optimized by particle swarm optimization (PSO) is proposed to improve the stability and generalization ability of kinematic calibration. Firstly, the robot position error model is derived. Secondly, the corresponding angle values of each joint level are determined by PSO. Finally, the proposed method is verified by simulation. The results show that the average accuracy of the proposed method is 21.58\(\%\) and 11.29\(\%\) higher than the random method and the conventional orthogonal experimental method, respectively. Moreover, the analysis results indicate that the proposed method has stronger generalization ability and stability across the entire workspace.

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Acknowledgements

This work was supported by National Natural Science Foundation of China under grant(52265001), and partially supported by Yunnan Fundamental Research Project sunder grant (202201ASO70033).

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Authors and Affiliations

  1. Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming, 650500, China

    Xinyang Guo, Guanbin Gao, Fei Liu & Yashan Xing

  2. Yunnan International Joint Laboratory of Intelligent Control and Application of Advanced Equipment, Kunming University of Science and Technology, Kunming, 650500, China

    Xinyang Guo, Guanbin Gao, Fei Liu & Yashan Xing

Authors
  1. Xinyang Guo
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  2. Guanbin Gao
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  3. Fei Liu
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  4. Yashan Xing
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Corresponding author

Correspondence to Guanbin Gao .

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Editors and Affiliations

  1. School of Automation Science and Electrical Engineering, Beihang University, Beijing, China

    Yingmin Jia

  2. School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China

    Weicun Zhang

  3. School of Mechanical Engineering and Automation, Beihang University, Beijing, China

    Yongling Fu

  4. Ningbo Institute of Materials Technology&Engineering, Chinese Academy of Sciences, Ningbo, Zhejiang, China

    Jiqiang Wang

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© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Guo, X., Gao, G., Liu, F., Xing, Y. (2023). A Modified Orthogonal Experimental Method for Configuration Data Acquisition Planning of Industrial Robots. In: Jia, Y., Zhang, W., Fu, Y., Wang, J. (eds) Proceedings of 2023 Chinese Intelligent Systems Conference. CISC 2023. Lecture Notes in Electrical Engineering, vol 1089. Springer, Singapore. https://doi.org/10.1007/978-981-99-6847-3_35

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