Improving the dynamic accuracy of industrial robots by trajectory pre-compensation

被引：0
|
作者：
Verdonck, W [1 ]
Swevers, J [1 ]
机构：
[1] Katholieke Univ Leuven, Dept Engn Mech, Louvain, Belgium
来源：
2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS | 2002年
关键词：
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：
This paper presents a method to improve the path tracking accuracy of an industrial robot without replacing the standard industrial controller. By calculating off-line an appropriate trajectory pre-compensation, the effects of the nonlinear dynamics are compensated. This is realized by filtering the desired trajectory with the inverse dynamic model of the robot and its velocity controller. This compensation is applied as a velocity feed-forward in the standard industrial controller avoiding the need for a torque control interface. The presented method is experimentally validated on a KUKA IR 361 industrial robot. The results show clearly improved path tracking accuracy on circular trajectories.
引用
收藏
页码：3423 / 3428
页数：6
相关论文
共 50 条
  • [21] Image Pre-compensation: Balancing Contrast and Ringing
    Ji, Yu
    Ye, Jinwei
    Kang, Sing Bing
    Yu, Jingyi
    [J]. 2014 IEEE CONFERENCE ON COMPUTER VISION AND PATTERN RECOGNITION (CVPR), 2014, : 3350 - 3357
  • [22] Automatic digital pre-compensation in IQ modulators
    Tuthill, J
    Cantoni, A
    [J]. ICASSP '99: 1999 IEEE INTERNATIONAL CONFERENCE ON ACOUSTICS, SPEECH, AND SIGNAL PROCESSING, PROCEEDINGS VOLS I-VI, 1999, : 1621 - 1624
  • [23] Pre-compensation for the dynamic nonlinearity of wideband wireless transmitters using augmented Wiener predistorters
    Liu, Taijun
    Boumaiza, Slim
    Ghannouchi, Fadhel M.
    [J]. 2005 ASIA-PACIFIC MICROWAVE CONFERENCE PROCEEDINGS, VOLS 1-5, 2005, : 2978 - 2981
  • [24] Offline Path Compensation to Improve Accuracy of Industrial Robots for Machining Applications
    Lehmann, C.
    Halbauer, M.
    Berger, U.
    van der Zwaag, J.
    Schneider, U.
    [J]. AUTOMATION 2013, 2013, 2209 : 147 - 151
  • [25] Optimal trajectory planning of industrial robot for improving positional accuracy
    Rout, Amruta
    Deepak, B. B. V. L.
    Biswal, Bibhuti B.
    Mahanta, Golak Bihari
    [J]. INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION, 2021, 48 (01): : 71 - 83
  • [26] Compensation of Trajectory Error for Industrial Robots by Interpolation and Calibration Method in the Joint Space
    Gao, Guanbin
    Zhang, Shiwen
    Na, Jing
    Liu, Fei
    [J]. Jixie Gongcheng Xuebao/Journal of Mechanical Engineering, 2021, 57 (21): : 55 - 67
  • [27] Neural network-based compensation control for trajectory tracking of industrial robots
    Zhang, Q.
    Xiao, J.
    Wang, G.
    [J]. AUSTRALIAN JOURNAL OF MECHANICAL ENGINEERING, 2015, 13 (01) : 22 - 30
  • [28] Vision based trajectory dynamic compensation system of industrial robot
    Zhao, Nan
    Murakami, Kenichi
    Yamakawa, Yuji
    [J]. INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY, 2024, 131 (12): : 6013 - 6026
  • [29] Vision based trajectory dynamic compensation system of industrial robot
    Nan Zhao
    Kenichi Murakami
    Yuji Yamakawa
    [J]. The International Journal of Advanced Manufacturing Technology, 2024, 131 : 6013 - 6026
  • [30] A dynamic voltage compensation method for improving weighing accuracy
    Yin Rongsen
    Yang Jiaqiang
    [J]. MEASUREMENT TECHNOLOGY AND ENGINEERING RESEARCHES IN INDUSTRY, PTS 1-3, 2013, 333-335 : 317 - 321
12345