Integration of Robotic Tracking/Measuring-machining Applying the Closed and Smooth Properties of Lie Groups: II Closed-loop Control and Experiment Validation

doi:10.3901/JME.2025.20.016

Abstract

Abstract: In Part I, the methods of kinematics modeling and system parameter identification of robot-tracking system are studied, simultaneous calibration model of dual-robot tracking/measure-machining integrated system is established, and a method of smoothing machining trajectory generation of skin parts is proposed. The robotic tracking/measure-machining system has a good initial geometric accuracy, and the executable robot milling trajectory is generated. However, when the machining robot moves in a wide range, it is affected by several geometric and non-geometric errors such as kinematic parameter error, joint angle error, weak stiffness deformation, joint friction error and cutting vibration error. Generally, the trajectory accuracy is only in the millimeter level, and the robotic machining system without feedback compensation is difficult to accurately process the skin contour. Therefore, Part II further establishes the closed-loop feedback control model of the robot’s end pose under the high-precision external tracking system, develops the corresponding hardware and software system, and achieves the real-time tracking and feedback compensation of the robot's end pose based on the ±10μm measuring accuracy originating from the external tracking system. Finally, the simultaneous calibration accuracy test of dual-robot, the trajectory accuracy test of end pose with closed-loop control, and the robotics machining accuracy test of skin samples are practically verified.

Key words: integration of tracking/measuring and machining, high-precision external tracking, end-effector closed-loop feedback, trajectory accuracy test, machining accuracy test

CLC Number:

TH161

LI Wenlong, JIANG Cheng, XU Wei, DING Han. Integration of Robotic Tracking/Measuring-machining Applying the Closed and Smooth Properties of Lie Groups: II Closed-loop Control and Experiment Validation[J]. Journal of Mechanical Engineering, 2025, 61(20): 16-29.

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