Calibration of DC Potential Drop Method Considering Fatigue Load

Ni, Chenqiang; Xue, He; Gou, Siyu; Fang, Xiurong; Wang, Shuai; Yang, Haijiao

doi:10.1007/s11340-021-00800-y

Cited by 1 publication

(1 citation statement)

References 23 publications

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“…Industrial applications based on absolute positioning accuracy are becoming wider nowadays, such as for off-line programming, measurement, machining, etc. The kinematic parameter error accounts for about 90% of the total error of industrial robots [5], so kinematic calibration can effectively improve the absolute positioning accuracy of industrial robots.…”

Section: Introductionmentioning

confidence: 99%

Kinematic Parameter Identification and Error Compensation of Industrial Robots Based on Unscented Kalman Filter with Adaptive Process Noise Covariance

Gao,

Guo,

et al. 2024

Machines

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Kinematic calibration plays a pivotal role in enhancing the absolute positioning accuracy of industrial robots, with parameter identification and error compensation constituting its core components. While the conventional parameter identification method, based on linearization, has shown promise, it suffers from the loss of high-order system information. To address this issue, we propose an unscented Kalman filter (UKF) with adaptive process noise covariance for robot kinematic parameter identification. The kinematic model of a typical 6-degree-of-freedom industrial robot is established. The UKF is introduced to identify the unknown constant parameters within this model. To mitigate the reliance of the UKF on the process noise covariance, an adaptive process noise covariance strategy is proposed to adjust and correct this covariance. The effectiveness of the proposed algorithm is then demonstrated through identification and error compensation experiments for the industrial robot. Results indicate its superior stability and accuracy across various initial conditions. Compared to the conventional UKF algorithm, the proposed approach enhances the robot’s accuracy stability by 25% under differing initial conditions. Moreover, compared to alternative methods such as the extended Kalman algorithm, particle swarm optimization algorithm, and grey wolf algorithm, the proposed approach yields average improvements of 4.13%, 26.47%, and 41.59%, respectively.

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Section: Introductionmentioning

confidence: 99%