Abstract
Whether new or used, industrial robots still have kinetic errors for many reasons such as quality of manufacture, assembly, wear, elastic deformation … and these errors are also changed by time. Feedback control only aims to make the generalized variable close to the theoretical calculation from the kinetic model so it is impossible to solve many of the above reasons, for example errors due to elastic deformation or wear owing to the out-of control loop. It is necessary to calibrate the robot by measuring the end manipulator error. Robots are mechatronic products so it is feasible to interfere with software to adjust hardware. This paper introduces an algorithm to build an alternate trajectory of the desired trajectory for the purpose of controlling the robot to follow this trajectory, which will move closest to the desired trajectory. This approach has the advantage of not interfering with the robot’s hardware and control system structure, it also allows the quality of initial robot manufacturing and assembly to be moderate to keep prices reasonable. When kinetic errors increase over time, we only need to rebuild the trajectory instead. The calculations illustrated here show that this is a promising process when applied because of its effectiveness.
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Acknowledgment
This research was supported by the Thai Nguyen University of Technology (TNUT) of Vietnam (T2019-B07 project).
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Huu, T.N., Quoc, K.D., Thu, T.L.T., Thanh, L.P. (2020). A Solution to Adjust Kinetic of Industrial Robots Based on Alternative Trajectories. In: Sattler, KU., Nguyen, D., Vu, N., Tien Long, B., Puta, H. (eds) Advances in Engineering Research and Application. ICERA 2019. Lecture Notes in Networks and Systems, vol 104. Springer, Cham. https://doi.org/10.1007/978-3-030-37497-6_6
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DOI: https://doi.org/10.1007/978-3-030-37497-6_6
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