标题：
Robot positioning error and residual error compensation for aircraft assembly
点击次数：
所属单位：
机电学院
发表刊物：
Hangkong Xuebao
摘要：
Nowadays, industrial robots have been increasingly applied to aircraft automatic drilling and riveting system due to their high flexibility and low cost. The key to product quality assurance is compensating the absolute positional errors of the robot effectively. In order to further improve end location accuracy of the robot, a method of compensation for residual error based on error similarity is proposed. The geometric parameters of the robot are first identified based on kinematics parameter calibration. The residual error is then compensated based on error similarity. An experiment on the KUKA KR-30 HA industrial robot is conducted to demonstrate the effectiveness of the compensation. The result shows that the average absolute positioning accuracy of the robot can be improved from 0.879 mm to 0.194 mm after compensation of the positioning error. The average absolute positioning accuracy is further increased to 0.141 mm after a residual compensation. The maximum absolute positioning error is reduced by 80.16% from 1.492 mm to 0.296 mm. This method can compensate the residual errors left over after parameter identification effectively. © 2017, Press of Chinese Journal of Aeronautics. All right reserved.
ISSN号：
1000-6893
是否译文：
否
发表时间：
2017-04-25
合写作者：
He, Xiaoxu,Zeng, Yuanfan,廖文和,XT20425
通讯作者：
田威
发表时间：
2017-04-25
学位：工学博士学位
职称：教授
所在单位：机电学院