An investigation of error compensation for a 6-DoF industrial robot based on neural network and stiffness modelling

Xuan Huang; Lingbao Kong; Min Xu

doi:10.1117/12.2604006

13 December 2021 An investigation of error compensation for a 6-DoF industrial robot based on neural network and stiffness modelling

Xuan Huang, Lingbao Kong, Min Xu

Author Affiliations +

Proceedings Volume 12071, 10th International Symposium on Advanced Optical Manufacturing and Testing Technologies: Advanced Optical Manufacturing and Metrology Technologies; 120710U (2021) https://doi.org/10.1117/12.2604006
Event: Tenth International Symposium on Advanced Optical Manufacturing and Testing Technologies (AOMATT 2021), 2021, Chengdu, China

Abstract

With the development of intelligent manufacturing, the role of industrial robots is becoming more and more important. However, the relatively low absolute positioning accuracy limits industrial robot application in high precision manufacturing. The main reason for the low positioning accuracy of industrial robots comes from the series configuration and insufficient stiffness, which leads to large motion errors. This paper proposed an error compensation method based on BP neural network combined with industrial robot stiffness model. Firstly, the relationship between the joint angles, the space stiffness and the error of the industrial robot is established through the stiffness model. Then, the neural network training set was constructed based on the experimental data and the simulation data from the established stiffness model. Finally, based on the training results of BP neural network, the spatial positioning error of the 6-DOF industrial robot was measured and compensated. Experimental results show that the error compensation method based on BP neural network increases the position accuracy by 95%, and the spatial position error is reduced to less than 0.005mm. This validates that the working performance and accuracy of the industrial robot can be improved, which is helpful for the further application of industrial robot in precision machining and measurement.

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Xuan Huang, Lingbao Kong, and Min Xu "An investigation of error compensation for a 6-DoF industrial robot based on neural network and stiffness modelling", Proc. SPIE 12071, 10th International Symposium on Advanced Optical Manufacturing and Testing Technologies: Advanced Optical Manufacturing and Metrology Technologies, 120710U (13 December 2021); https://doi.org/10.1117/12.2604006

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KEYWORDS

Neural networks

Neurons

Error analysis

Data modeling

Space robots

Motion models

Modeling

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