基于误差相似性的移动机器人定位误差补偿

doi:10.7527/S1000-6893.2020.24105

Abstract

Abstract: A positioning error compensation method for the AGV based drilling robot is studied in this paper. In this kind of robotic drilling system for aircraft assembly, the measuring coordinate system is constructed by the laser tracker, and the method of switching station for the AGV based drilling robot is proposed, which can better adapt to the characteristics of multiple varieties and small batches of aircraft manufacturing. Furthermore, based on the analysis of the positioning error source, a spatial interpolation and error compensation method depending on the inverse distance weighting is proposed for the AGV based drilling robot, overcoming the deficiency of the existing error compensation method. An experiment is conducted to obtain the optimal grid step for the KUKA KR480 industrial robot mounted on an AGV. The experimental result shows that, because of the implementation of this method, the average absolute positioning error is reduced from 1.045 mm to 0.227 mm, and the maximum absolute positioning error is reduced by 82.47%, from 2.727 mm to 0.478 mm, suggesting that this method can effectively improve the absolute positioning accuracy of the AGV based drilling robot.

Key words: aircraft assembly, mobile robots, accuracy compensation, error similarity, spatial interpolation

CLC Number:

SHI Zhanghu, HE Xiaoxu, ZENG Debiao, LEI Pei. Error compensation method for mobile robot positioning based on error similarity[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2020, 41(11): 424105-424105.

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Error compensation method for mobile robot positioning based on error similarity

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