TRAJECTORY ERROR MINIMISATION METHOD DUE TO TRANSIENT REGIME VARIATION OF INDUSTRIAL ROBOTS KINEMATIC LINKS

Andrei Luncanu,Gheorghe Stan

doi:10.29081/jesr.v25i3.27

Abstract

In the current industry, industrial robots are gaining more and more ground to classical positioning methods, especially due to the ratio of workspace / volume of the industrial robot. For this reason, methods of minimization of trajectory errors are necessary. Among the multitudes of factors that affect the trajectory precision is the difference between the programmed transient regime and the measured transient regime of the kinematic link used in the structure of the industrial robots. In this paper is presented the method of measurement the transient regimes of the end-effector and a method of compensation of the trajectory error.

Highlights

Through the research carried out on the industrial robot structure [1], only some of the positioning and trajectory errors produced, in particular by the dimensional and geometrical deviations of industrial robots, can be minimized
By investigating kinematic factors that are influencing the trajectory tracking precision the industrial robot it has been determined that the variation of the transient regime of the kinematic links present in the kinematic structure of the industrial robots is a dominant factor
By applying the method presented in this article, an optimized transient regime is obtained and the trajectory tracking precision is improved

Summary

Introduction

Through the research carried out on the industrial robot structure [1], only some of the positioning and trajectory errors produced, in particular by the dimensional and geometrical deviations of industrial robots, can be minimized. By investigating kinematic factors that are influencing the trajectory tracking precision the industrial robot it has been determined that the variation of the transient regime of the kinematic links present in the kinematic structure of the industrial robots is a dominant factor. By applying the method presented in this article, an optimized transient regime is obtained and the trajectory tracking precision is improved.

Results

Conclusion