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GAN Fangjian
Department of Precision Machinery and
Precision Instrumentation,
University of Science and Technology
of China,
Hefei 230026, China
LIU Zhengshi
College of Mechanical and
Automobile Engineering,
Hefei University of Technology,
Hefei 23009, China
REN Chuansheng
ZHANG Ping
Department of Precision Machinery and
Precision Instrumentation,
University of Science and Technology
of China,
Hefei 230026, China
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ROBOT'S MOTION ERROR AND ON-
LINE
COMPENSATION BASED ON
FORCE SENSOR*
Abstract:
Robot’s dynamic motion error and on-line compensation based on multi-axis force sensor are dealt with. It is revealed that the reasons of the error are formed and the relations of the error are delivered. A motion equation of robot’s termination with the error is established, and then, an error matrix and an error compensation matrix of the motion equation are also defined. An on-line error’s compensation method is put forward to decrease the displacement error, which is a degree of millimeter, shown by the result of simulation of PUMA562 robot.
Key words:
Multi-axis force sensor Robot Error Compensation |