A Calibration Method of Industrial Robots Based on ELM

被引：0

作者：

Cai, Ying ^{[1
]}

Yuan, Peijiang ^{[1
]}

Chen, Dongdong ^{[1
]}

Gao, Doudou ^{[1
]}

Wu, Xulei ^{[1
]}

Xue, Lei ^{[2
]}

Wang, Tianmiao ^{[1
]}

机构：

[1] Beihang Univ, Beijing 100191, Peoples R China

[2] Shanghai Aircraft Mfg Co Ltd, Shanghai 201324, Peoples R China

来源：

2017 2ND INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (ICARM) | 2017年

基金：

中国国家自然科学基金;

关键词：

Industrial Robots; Absolute Position Errors; ELM; Error Prediction; Error Compensation; EXTREME LEARNING-MACHINE; PARAMETER-IDENTIFICATION; KINEMATIC CALIBRATION;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A calibration method for enhancing absolute position errors of industrial robots is presented by the paper. In this study, the ELM algorithm is utilized for error prediction. Firstly, the relationship between absolute position errors and robot joint angles is built by training samples. Then joint angles of positions to be predicted are provided to predict position errors based on the relationship. Besides, this paper compensates the position coordinates of the predicted positions. All processes implemented in the paper needn't to build the kinematic model. Finally, the experiment is carried out on the KUKA KR210 R2700 industrial robot. Experimental results indicate that the maximum of the spatial position errors is from 1.6866 mm to 0.3565 mm with the reduction of 78.86%, which verifies the method's effectiveness.

引用

页码：70 / 75

页数：6

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