Adaptive Online Compensation for Industrial Robot Positioning Error

doi:10.3901/JME.2023.05.053

Abstract

Abstract: Due to the geometric and non-geometric errors of the robot body structure, the actual trajectory of the robot has a big deviation from its nominal trajectory, which seriously limits the application of the robot in machining. Note that the positioning accuracy of the robot will be significantly deteriorated with the degradation of the working performance of the robot during the service time, in addition to the differential distribution of the positioning error levels in the workingspace of the robot. To cope with this problem, an adaptive online compensation method based on fixed-length memory window incremental learning is proposed to compensate the positioning errors of the industrial robot during long-term service. Firstly, the correlation between positioning errors and robot poses is quantitatively studied, and the workspace is divided into several pose blocks and a calibration sample library is created, thus an adaptive optimization mechanism of mapping model is established to address the problem of differential distribution of error levels in workingspace. Secondly, the incremental learning algorithm with fixed-length memory window is designed to overcome the catastrophic forgetting of neural network model and balance the accuracy and efficiency of establishing the mapping relationship between new and old robot pose data in online mode, solving the problem that robot performance degradation aggravates positioning errors and affects the applicability of pose mapping model. Finally, the proposed method is applied to long-term compensation case of Stäubli robot and UR robot, and experimental result shows the proposed method reduces the positioning error of the Stäubli robot from 0.85 mm to 0.13 mm and UR robot from 2.11 mm to 0.17 mm, respectively, outperforming similar methods.

Key words: industrial robot, online positioning error compensation, adaptive optimization mechanism, fixed-length memory window, incremental learning

CLC Number:

TP242
TG156

ZHOU Jian, ZHENG Lianyu, FAN Wei, ZHANG Xuexin, CAO Yansheng. Adaptive Online Compensation for Industrial Robot Positioning Error[J]. Journal of Mechanical Engineering, 2023, 59(5): 53-66.

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