TY - JOUR
T1 - Hierarchical Error Compensation Method for Two-Degree-of-Freedom Manipulator Positioning Error in Hybrid Robots
AU - He, Yuqing
AU - Zhang, Jiabo
AU - Yue, Yi
AU - Liu, Jingyu
AU - Wen, Ke
AU - Zhou, Yinghao
AU - Yang, Jizhi
AU - Wang, Yunpeng
N1 - Publisher Copyright:
© Published under licence by IOP Publishing Ltd.
PY - 2023
Y1 - 2023
N2 - In this paper, taking a two-degree-of-freedom parallelogram serial manipulator of a hybrid robot as an example, a hierarchical error compensation method that combines geometric and non-geometric error compensation is proposed. First, we establish the geometric kinematic modeling and error model and use the Levenberg-Marquardt (L-M) method to identify the geometric error parameters. Then, we use the grid interpolation method to compensate for non-geometric errors, thereby improving the overall positioning accuracy of the manipulator. Finally, a simulation is presented to verify the correctness and effectiveness of the proposed method. The results show that the positioning accuracy is improved from 4.8568 mm to 0.0036 mm, and the attitude error is improved from 0.9437° to 0.0105°.
AB - In this paper, taking a two-degree-of-freedom parallelogram serial manipulator of a hybrid robot as an example, a hierarchical error compensation method that combines geometric and non-geometric error compensation is proposed. First, we establish the geometric kinematic modeling and error model and use the Levenberg-Marquardt (L-M) method to identify the geometric error parameters. Then, we use the grid interpolation method to compensate for non-geometric errors, thereby improving the overall positioning accuracy of the manipulator. Finally, a simulation is presented to verify the correctness and effectiveness of the proposed method. The results show that the positioning accuracy is improved from 4.8568 mm to 0.0036 mm, and the attitude error is improved from 0.9437° to 0.0105°.
UR - http://www.scopus.com/inward/record.url?scp=85181131638&partnerID=8YFLogxK
U2 - 10.1088/1742-6596/2658/1/012025
DO - 10.1088/1742-6596/2658/1/012025
M3 - Conference article
AN - SCOPUS:85181131638
SN - 1742-6588
VL - 2658
JO - Journal of Physics: Conference Series
JF - Journal of Physics: Conference Series
IS - 1
M1 - 012025
T2 - 2023 3rd International Conference on Mechatronics Technology and Aerospace Engineering, ICMTAE 2023
Y2 - 15 September 2023 through 17 September 2023
ER -