ACTA AERONAUTICAET ASTRONAUTICA SINICA >
Robot positioning error and residual error compensation for aircraft assembly
Received date: 2016-06-17
Revised date: 2016-08-12
Online published: 2016-10-19
Supported by
National Natural Science Foundation of China (51475225,51575273); National High-grade CNC Machine Tools and Basic Manufacturing Equipment (2014ZX04001071)
Nowadays, industrial robots have been increasingly applied to aircraft automatic drilling and riveting system due to their high flexibility and low cost. The key to product quality assurance is compensating the absolute positional errors of the robot effectively. In order to further improve end location accuracy of the robot, a method of compensation for residual error based on error similarity is proposed. The geometric parameters of the robot are first identified based on kinematics parameter calibration. The residual error is then compensated based on error similarity. An experiment on the KUKA KR-30 HA industrial robot is conducted to demonstrate the effectiveness of the compensation. The result shows that the average absolute positioning accuracy of the robot can be improved from 0.879 mm to 0.194 mm after compensation of the positioning error. The average absolute positioning accuracy is further increased to 0.141 mm after a residual compensation. The maximum absolute positioning error is reduced by 80.16% from 1.492 mm to 0.296 mm. This method can compensate the residual errors left over after parameter identification effectively.
HE Xiaoxu , TIAN Wei , ZENG Yuanfan , LIAO Wenhe , XIANG Yong . Robot positioning error and residual error compensation for aircraft assembly[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2017 , 38(4) : 420538 -420538 . DOI: 10.7527/S1000-6893.2016.0235
[1] DEVLIEG R, SITTON K, FEIKERT E, et al. ONCE (ONe-sided Cell End effector) robotic drilling system:SAE Technical Paper-2002-01-2626[R]. New York:SAE International, 2002.
[2] TIAN W, ZHOU Z, LIAO W. Analysis and investigation of a rivet feeding tube in an aircraft automatic drilling and riveting system[J]. The International Journal of Advanced Manufacturing Technology, 2016, 82(5-8):973-983.
[3] ZHAN Q, WANG X. Hand-eye calibration and positioning for a robot drilling system[J]. The International Journal of Advanced Manufacturing Technology, 2012, 61(5-8):691-701.
[4] 彭商贤, 方浩天, 张平. 装配机器人高精度定位补偿系统[J]. 机器人, 1992, 14(3):11-16, 23. PENG S X, FANG H T, ZHANG P. High precision system with positioning compensation for assembly robot[J]. Robot, 1992, 14(3):11-16, 23 (in Chinese).
[5] VEITSCHEGGER W K, WU C H. Robot calibration and compensation[J]. IEEE Journal on Robotics and Automation, 1988, 4(6):643-656.
[6] ZAK G, BENHABIB B, FENTON R G, et al. Application of the weighted least squares parameter estimation method to the robot calibration[J]. Journal of Mechanical Design, 1994, 116(3):890-893.
[7] PARK I W, LEE B J, CHO S H, et al. Laser-based kinematic calibration of robot manipulator using differential kinematics[J]. IEEE/ASME Transactions on Mechatronics, 2012, 17(6):1059-1067.
[8] DENNIS J E, SCHNABEL R B. Numerical methods for unconstrained optimization and nonlinear equations[M]. New Jersey:Prentice-Hall, 1983:64-65.
[9] JUDD R P, KNASINSKI A B. A technique to calibrate industrial robots with experimental verification[J]. IEEE Transactions on Robotics and Automation, 1990, 6(1):20-30.
[10] RENDERS J M, ROSSIGNOL E, BECQUET M, et al. Kinematic calibration and geometrical parameter identification for robots[J]. IEEE Transactions on Robotics and Automation, 1991, 7(6):721-732.
[11] ELATTA A Y, GEN L P, ZHI F L, et al. An overview of robot calibration[J]. Information Technology Journal, 2004, 3(1):74-78.
[12] ZHONG X, LEWIS J, N-NAGY F L. Inverse robot calibration using artificial neural networks[J]. Engineering Applications of Artificial Intelligence, 1996, 9(1):83-93.
[13] ZHUANG H, ROTH Z S, HAMANO F. Optimal design of robot accuracy compensators[J]. IEEE Transactions on Robotics and Automation, 1993, 9(6):854-857.
[14] ZHUANG H, ROTH Z S. Method for kinematic calibration of Stewart platforms[J]. Journal of Robotic Systems, 1993, 10(3):391-405.
[15] ZENG Y F, TIAN W, LI D W, et al. An error-similarity-based robot positional accuracy improvement method for a robotic drilling and riveting system[J]. The International Journal of Advanced Manufacturing Technology, 2016, 84(9-12):1-11.
[16] ZENG Y F, TIAN W, LIAO W H. Positional error similarity analysis for error compensation of industrial robots[J]. Robotics and Computer-Integrated Manufacturing, 2016, 42:113-120.
[17] 王东署, 付志强. 机器人逆标定方法研究[J]. 计算机应用, 2007, 27(1):71-73. WANG D S, FU Z Q. Study on robot inverse calibration[J]. Computer Applications, 2007, 27(1):71-73 (in Chinese).
[18] NGUYEN H N, ZHOU J, KANG H J. A calibration method for enhancing robot accuracy through integration of an extended Kalman filter algorithm and an artificial neural network[J]. Neurocomputing, 2015, 151(3):996-1005.
[19] GINANI L S, MOTTA J M S T. Theoretical and practical aspects of robot calibration with experimental verification[J]. Journal of the Brazilian Society of Mechanical Sciences and Engineering, 2011, 33(1):15-21.
[20] LIN P D, TSAI J. The machining and on-line measurement of spatial cams on four-axis machine tools[J]. International Journal of Machine Tools and Manufacture, 1996, 36(1):89-101.
[21] BARKER L K. Modified Denavit-Hartenberg parameters for better location of joint axis systems in robot arms:NASA-TP-2585[R]. Washington, D.C.:NASA, 1986.
[22] VEITSCHEGGER W, WU C H. Robot accuracy analysis based on kinematics[J]. IEEE Journal on Robotics and Automation, 1986, 2(3):171-179.
[23] ZAK G, BENHABIB B, FENTON R G, et al. Application of the weighted least squares parameter estimation method to the robot calibration[J]. Journal of Mechanical Design, 1994, 116(3):890-893.
/
| 〈 |
|
〉 |
CJA