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A study on tracking error based on mechatronics model of a 5-DOF hybrid spray-painting robot

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Abstract

Industrial robots suffer from difficulties in predicting and guaranteeing tracking performance due to the complex dynamic behavior and inaccurate mechatronics model. This study investigates the tracking error and motion accuracy improvement based on a mechatronics model of a 5-degree of freedom hybrid spray-painting robot. The dynamic model of the robot is derived by using Lagrange equation, and an identification method is presented to identify the torque coefficient and joint friction synchronously. An accurate mechatronics model is established after the theoretical dynamic modeling and friction identification. The tracking error generation mechanism of the robot control system is studied, and its analytical equation is derived on the basis of a transfer function. A multichannel feedforward controller is synthesized to reduce the tracking error from different sources. The effectiveness of the proposed method in improving tracking accuracy is verified by physical experiments.

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Acknowledgments

This work was supported by the National Natural Science Foundation of China (Grant No. 51975321), EU H2020-MSCA-RISE-ECSASDPE (No. 734272), and Tianjin Key Laboratory of High Speed Cutting and Precision Machining.

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Authors and Affiliations

  1. State Key Laboratory of Tribology and Institute of Manufacturing Engineering, Department of Mechanical Engineering, Tsinghua University, Beijing, 100084, China

    Jun Wu, Zilin Liu, Guang Yu & Yuyao Song

  2. Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipment and Control, Beijing, 100084, China

    Jun Wu, Zilin Liu, Guang Yu & Yuyao Song

Authors
  1. Jun Wu
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  2. Zilin Liu
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  3. Guang Yu
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  4. Yuyao Song
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Corresponding author

Correspondence to Jun Wu.

Additional information

Jun Wu is an Associate Professor in the Department of Mechanical Engineering, Tsinghua University.

His current research interests include robot dynamics, dynamics, and control of parallel kinematic machine, and optimal design of redundant parallel mechanisms.

Zilin Liu is a Ph.D. candidate in the Department of Mechanical Engineering, Tsinghua University, Beijing, China. His current research interests include the dynamics and control of parallel mechanisms.

Guang Yu is a research assistant in the Department of Mechanical Engineering at Tsinghua University, Beijing, China. His research interests include static stiffness analysis of parallel mechanisms, structural dynamics of parallel mechanism, and chatter stability of parallel machine tools.

Yuyao Song is a Ph.D. candidate at the Department of Mechanical Engineering, Tsinghua University, Beijing, China. His current research interests include the electromechanical coupling dynamics and similitude analysis of parallel mechanisms.

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Wu, J., Liu, Z., Yu, G. et al. A study on tracking error based on mechatronics model of a 5-DOF hybrid spray-painting robot. J Mech Sci Technol 36, 4761–4773 (2022). https://doi.org/10.1007/s12206-022-0835-x

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  • DOI: https://doi.org/10.1007/s12206-022-0835-x

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