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Compliance error calibration for robot based on statistical properties of single joint

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Abstract

This paper focuses on compliance error calibration. Because kinematic parameter error is the main error of a robot, we should first compensate for it. And because the compliance errors of some joints are too small, not all joints should be compensated for he compliance errors. We rotate the single joint along its axis locked other joints to obtain the statistical properties of all joints. The compliance errors are induced by gravity and elastostatic. This paper presents a mapping from the compliance error onto the joint variable vector; on the other hand, it utilized a method to transform the robot compliance error from the laser tracker system frame to the robot frame. The main attention is paid to analyze each joint compliance error using a single axis rotating by laser tracking system. To compensate the compliance error, we divided this problem into three sequential subtasks: identifying the robot compliance matrix, computing the compliance error of gravity without external loading, compensating compliance errors of elastostatic error on external loading.

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Authors and Affiliations

  1. School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou, China

    Liang Du, Tie Zhang & Xiaoliang Dai

  2. Guangdong Testing Institute for Product Quality Supervision, Guangzhou, China

    Liang Du

Authors
  1. Liang Du
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  2. Tie Zhang
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  3. Xiaoliang Dai
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Corresponding author

Correspondence to Liang Du.

Additional information

Recommended by Associate Editor Hak Yi

Liang Du was a Ph.D. candidate in South China University of Technology when he attended this research. He is currently a Senior Engineer in Guangdong Testing Institute for Product Quality Supervision after he received his Ph.D.. His main research interests are robot calibration and control.

Tie Zhang received his Ph.D. from South China University of Technology in 2001. He is currently a Professor and a Ph.D. candidate supervisor of the School of Mechanical & Automotive Engineering, South China University of Technology. His main research interests include design and control of robots, automation and intelligent systems.

Xiaoliang Dai was a Master degree candidate in South China University of Technology when he attended this research. His main research interest is robot calibration.

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Du, L., Zhang, T. & Dai, X. Compliance error calibration for robot based on statistical properties of single joint. J Mech Sci Technol 33, 1861–1868 (2019). https://doi.org/10.1007/s12206-019-0338-6

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  • DOI: https://doi.org/10.1007/s12206-019-0338-6

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