Abstract

This paper is an extended research of our previous study, in which only tpe-1 fuzzy system was discussed, for a novel technique used in the pose error compensations for parallel machine tools calibration process based on an Interval Type-2 Fuzzy error interpolation (IT2FEI) method. Robot calibrations can be classified into model-based and modeless methods. Either inverse or forward kinematic models need to be used in the traditional calibration methods to perform the identification and compensation of the pose errors for parallel machine tools. Instead of using a model, the proposed method presents a modeless technique combined with an interval type-2 fuzzy interpolation method to obtain the same or higher calibration accuracy when a small workspace is adopted. Simulated results show that not only the robot compensation accuracy can be improved, but also the calibration process can be significantly simplified, and it is more suitable for practical applications.

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