Industrial Robot End Effector Pose Repeatability Test Based on IGCF-IBSCF and BCF-IBPSO-NESN Algorithm

doi:10.3901/JME.2024.19.071

Abstract

Abstract: Industrial robots play an important role in the field of intelligent manufacturing.The repeatability of the end effector position is an important indicator to measure the robot's ability to complete precision operations.A theoretical model of pose repeatability measurement based on directional cosine for the online detection of pose repeatability of robot end effectors is proposed, a pose repeatability measurement method based on improved Gaussian curve fitting-improved B-spline curve fitting (IGCF-IBSCF) algorithm and Bisquare curve fitting-improved Bayes particle swarm optimization-Nonlinear echo state network (BCF-IBPSO-NESN) algorithm is designed, and multi-point measurement of pose repeatability of robot end effectors by acquiring the offset angle of the cross line and the position of the center point are realized.The experimental results show that the displacement measurement accuracy of the measuring system is ±1.5 μm.The angle measurement accuracy is ±2".The method described in this study can be used for online detection of position and posture repeatability of end effectors of industrial robots.

Key words: pose repeatability test, IGCF-IBSCF algorithm, BCF-IBPSO-NESN algorithm, industrial robot end actuator

CLC Number:

TP212

YU Zhen, LIU Hailin, QIU Zurong, AN Qi. Industrial Robot End Effector Pose Repeatability Test Based on IGCF-IBSCF and BCF-IBPSO-NESN Algorithm[J]. Journal of Mechanical Engineering, 2024, 60(19): 71-87.

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