Abstract
The measurement of the reducer stiffness plays a vital role in evaluating the robot’s performance. Since the angle measurement error caused by the instrument’s torsional deformation is included in the angular sensor’s measurement results, it cannot be used as the actual torsional deformation of the reducer. This paper analyzes the instrument’s torsional deformation characteristics. Based on the features, a new method of calibration and compensation of the angle measurement error based on the improved B-spline curve fitting-gradient descent and particle swarm optimization-radial basis function neural network (IBSCF-GDPSO-RBF) method is proposed to eliminate the influence of the instrument torsional deformation. The steps of the IBSCF-GDPSO-RBF method are introduced, and the error compensation of angular measurement is carried out under load conditions. The experimental results show that the angle measurement error caused by the instrument deformation after compensation is within ± two angular seconds. The contribution of this paper is that the method calibrates and compensates for the angle measurement error based on the IBSCF-GDPSO-RBF method, which is not limited to measuring the RV reducer torsional deformation. It provides a reference for measuring and evaluating the actual RV reducer torsional rigidity under any load.
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