Positioning error compensation on two-dimensional manifold for robotic machining

Abstract

Abstract To improve the efficiency of error compensation for robotic machining, this paper proposes a new method which contains the two-dimensional manifold that reduces the dimensionality of the workspace. The theory for error compensation in two-dimensional workspace is briefly described, which is based on the continuity of positioning errors. With two-dimensional manifold developed from robot posture optimization, the continuity of positioning errors and robot's kinematic parameters is theoretically proved in the two-dimensional space. The continuity of robot's kinematic parameters such as joint angles is also verified by simulations performed in Delmia and Matlab. To verify the effectiveness of proposed method, experiments have been conducted on a typical industrial robot. The results show that positioning errors are continuous in two-dimensional space which validates the feasibility of theory, and the average positioning error of end effector is decreased by more than 70% after compensation which meets the requirement of robotic machining.