A Calibration Method of Industrial Robots Based on ELM

被引：0
|
作者：
Cai, Ying [1 ]
Yuan, Peijiang [1 ]
Chen, Dongdong [1 ]
Gao, Doudou [1 ]
Wu, Xulei [1 ]
Xue, Lei [2 ]
Wang, Tianmiao [1 ]
机构：
[1] Beihang Univ, Beijing 100191, Peoples R China
[2] Shanghai Aircraft Mfg Co Ltd, Shanghai 201324, Peoples R China
来源：
2017 2ND INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (ICARM) | 2017年
基金：
中国国家自然科学基金;
关键词：
Industrial Robots; Absolute Position Errors; ELM; Error Prediction; Error Compensation; EXTREME LEARNING-MACHINE; PARAMETER-IDENTIFICATION; KINEMATIC CALIBRATION;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A calibration method for enhancing absolute position errors of industrial robots is presented by the paper. In this study, the ELM algorithm is utilized for error prediction. Firstly, the relationship between absolute position errors and robot joint angles is built by training samples. Then joint angles of positions to be predicted are provided to predict position errors based on the relationship. Besides, this paper compensates the position coordinates of the predicted positions. All processes implemented in the paper needn't to build the kinematic model. Finally, the experiment is carried out on the KUKA KR210 R2700 industrial robot. Experimental results indicate that the maximum of the spatial position errors is from 1.6866 mm to 0.3565 mm with the reduction of 78.86%, which verifies the method's effectiveness.
引用
收藏
页码：70 / 75
页数：6
相关论文
共 50 条
  • [31] Kinematic calibration of parallel robots
    Yu, Dayong
    Han, Junwei
    2005 IEEE International Conference on Mechatronics and Automations, Vols 1-4, Conference Proceedings, 2005, : 521 - 525
  • [32] Calibration of industrial robots with spherical joint using single wire encoder
    Yun, Huitaek
    Jeon, Heungki
    Yang, Seunghan
    Jun, Martin B. G.
    MANUFACTURING LETTERS, 2022, 33 : 46 - 50
  • [33] Quadratic Identification Method of Kinematic Parameters of Industrial Robots Based on POE Model
    Qiao G.
    Du B.
    Zhang Y.
    Tian R.
    Liu D.
    Liu H.
    Nongye Jixie Xuebao/Transactions of the Chinese Society for Agricultural Machinery, 2024, 55 (01): : 419 - 425
  • [34] Monocular stereo vision based method for validating path accuracy of industrial robots
    Li, Xiao
    Li, Wei
    Yin, XiaoKang
    Ma, Xin
    Yuan, Xin'an
    Zhao, Jianming
    2021 IEEE INTERNATIONAL INSTRUMENTATION AND MEASUREMENT TECHNOLOGY CONFERENCE (I2MTC 2021), 2021,
  • [35] Positioning error compensation method for industrial robots based on stacked ensemble learning
    Chen, Qizhi
    Zhang, Chengrui
    Ma, Wei
    Yang, Chen
    INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY, 2024, 135 (1-2): : 267 - 279
  • [36] An Improved Design of the MultiCal On-Site Calibration Device for Industrial Robots
    Wan, Ziwei
    Zhou, Chunlin
    Lin, Zhaohui
    Yan, Huapeng
    Tang, Weixi
    Wang, Zhen
    Wu, Jun
    SENSORS, 2023, 23 (12)
  • [37] A transfer-learning based energy consumption modeling method for industrial robots
    Yan, Jihong
    Zhang, Mingyang
    JOURNAL OF CLEANER PRODUCTION, 2021, 325
  • [38] Research on Modeling Method of Industrial Robots Optimum Design Based on Energy Flow
    Yuan, Minghai
    Li, Yadong
    Ma, Ke
    Zhou, Kaiwen
    Pei, Fengque
    Wang, Song
    PROCEEDINGS OF THE 33RD CHINESE CONTROL AND DECISION CONFERENCE (CCDC 2021), 2021, : 2608 - 2613
  • [39] Modeling Method for Photosynthetic Rate Based on Error Compensation ELM
    Yuan, Qingyun
    Ding, Xiaoming
    Yin, Yilei
    Liu, Tan
    Wang, Yonggang
    Zhang, Dapeng
    2022 34TH CHINESE CONTROL AND DECISION CONFERENCE, CCDC, 2022, : 4193 - 4198
  • [40] The Circuit Fault Diagnosis Method Based on Spectrum Analyses and ELM
    Cai, Gang
    Wu, Lingyan
    Li, Mengxia
    PROCEEDINGS OF THE 2021 IEEE 16TH CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA 2021), 2021, : 475 - 479
12345