Abstract
Industrial robots have been widely used in many areas for the properties such as low cost, high flexibility and relatively large working space. The low absolute accuracy and low stiffness, however, limit the application in high precision areas. This article presents an approach for industrial robots that overcomes the inaccuracy of robotic path in offline programming. Robot Sensor Interface of KUKA robot controller makes the error compensation available. First, the compensation performance of the KUKA KR5 arc robot is investigated and the straight-line and circular arc path compensation strategies are proposed. Besides, an error compensation algorithm is proposed to generate the compensation values as well as to deal with the oscillation of real-time compensation. Finally, experimental results using a KUKA KR5 arc robot verify the correctness and accuracy of the approach.
Highlights
Industrial robots have been widely used in the field of industry so far due to their lower price, the larger working space, high degree of automation and so on
By comparing the real-time data of robot measured by an external measurement system with the theoretical coordinate values in robot offline programming when executing path tasks, the error values of the robot can be calculated through the proposed path compensation strategy
Each moment in the process of continuous trajectory tasks, the real-time measurement values of the laser tracker are compared with the theoretical coordinate values, and the compensation values are obtained by calculating
Summary
Industrial robots have been widely used in the field of industry so far due to their lower price, the larger working space, high degree of automation and so on. An online real-time compensation method based on a laser tracker is presented. This method aims at increasing the accuracy without precise calibration. By comparing the real-time data of robot measured by an external measurement system (laser tracker) with the theoretical coordinate values in robot offline programming when executing path tasks, the error values of the robot can be calculated through the proposed path compensation strategy. The function of the PC software program is mainly to receive data from the robot, read the measured values of the laser tracker, perform compensation algorithm and simultaneously transmit compensation data to the robot in real time. If the robot reaches the required accuracy that we expect to achieve during performing path tasks, the software doesn’t execute the computational compensation program. D3 qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi R 1⁄4 ðx[1] À x0Þ2 þ ðy[1] À y0Þ2 þ ðz[1] À z0Þ2 (8)
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