Abstract
In this article, a dynamic pose correction scheme is proposed to enhance the pose accuracy of industrial robots. The dynamic pose correction scheme uses the dynamic pose measurements as feedback to accurately guide the robot end-effector to the desired pose. The pose is measured online with an optical coordinate measure machine, that is, C-Track 780 from Creaform. A root mean square method is proposed to filter the noise from the pose measurements. The dynamic pose correction scheme adopts proportional-integral-derivaitve controller and generates commands to the FANUC robot controller. The developed dynamic pose correction scheme has been tested on two industrial robots, FANUC LR Mate 200iC and FANUC M20iA. The experimental results on both robots demonstrate that the robots can reach the desired pose with an accuracy of ±0.050 mm for position and ±0.050° for orientation. As a result, the developed pose correction can make the industrial robots meet higher accuracy requirement in the applications such as riveting, drilling, and spot welding.
Highlights
In order to evaluate the performance of the developed algorithm, the same experimental setup and conditions, including accuracy threshold, dynamic path modification (DPM) mode, correction rate, initial pose, and desired pose are considered
A dynamic pose correction (DPC) algorithm was proposed to improve the accuracy of a 6-DOF serial industrial robots for stationary tasks
The developed DPC algorithm had been implemented with two options
Summary
Welding, drilling, assembling, and riveting are some of the frequent applications of industrial robots in aerospace, manufacturing, and automation industries. In aircraft assembly, industrial robots are widely used due to their high precision and adaptability.[1] the low absolute accuracy of industrial robots has negatively impacted their high potential, especially in the aerospace industry, where the maximum position error tolerated is typically in the range of +0:1 mm. Sources of pose (i.e. position and orientation) errors in an industrial robot can vary from hardware and software limitations, to the manufacturing tolerances of the mechanical components, and to the environment where the robot is being operated.[2] These sources of errors can be attributed to the following aspects: geometric, dynamic, thermal, and system.[3]
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