Modeling and Compensation of Motion Errors for 6-DOF Robotic Manipulators
Six degree-of-freedom (6-DOF) robotic manipulators have been increasingly adopted in various applications in industries due to various advantages, such as large operation space, more degrees of freedom, low cost, easy placement, and convenient programming. However, the robotic manipulator has the pr...
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| Format: | Article |
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MDPI AG
2021-10-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/11/21/10100 |
| _version_ | 1827678322357698560 |
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| author | Xuan Huang Lingbao Kong Guangxi Dong |
| author_facet | Xuan Huang Lingbao Kong Guangxi Dong |
| author_sort | Xuan Huang |
| collection | DOAJ |
| description | Six degree-of-freedom (6-DOF) robotic manipulators have been increasingly adopted in various applications in industries due to various advantages, such as large operation space, more degrees of freedom, low cost, easy placement, and convenient programming. However, the robotic manipulator has the problem of insufficient stiffness due to the series structures, which will cause motion errors of the manipulator end. In this paper, taking a 6-DOF robotic manipulator as an example, forward and inverse kinematics models are established, and a new modeling method for the joint angle and space stiffness of the end of the manipulator is proposed, which can establish the composite stiffness model of joint link stiffness and joint stiffness. An error compensation model is subsequently established. The experimental results indicate that the proposed error compensation method can effectively reduce the end motion error of the robotic manipulator, and hence, the working performance and accuracy of the manipulator can be improved. The proposed research is helpful for extending the application of robotic manipulators in precision machining and measurement. |
| first_indexed | 2024-03-10T06:06:40Z |
| format | Article |
| id | doaj.art-8a285150b7a64efd9cbc069fbd43958c |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T06:06:40Z |
| publishDate | 2021-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-8a285150b7a64efd9cbc069fbd43958c2023-11-22T20:27:52ZengMDPI AGApplied Sciences2076-34172021-10-0111211010010.3390/app112110100Modeling and Compensation of Motion Errors for 6-DOF Robotic ManipulatorsXuan Huang0Lingbao Kong1Guangxi Dong2Shanghai Engineering Research Center of Ultra-Precision Optical Manufacturing, Department of Optical Science and Engineering, School of Information Science and Engineering, Fudan University, Shanghai 200438, ChinaShanghai Engineering Research Center of Ultra-Precision Optical Manufacturing, Department of Optical Science and Engineering, School of Information Science and Engineering, Fudan University, Shanghai 200438, ChinaShanghai Engineering Research Center of Ultra-Precision Optical Manufacturing, Department of Optical Science and Engineering, School of Information Science and Engineering, Fudan University, Shanghai 200438, ChinaSix degree-of-freedom (6-DOF) robotic manipulators have been increasingly adopted in various applications in industries due to various advantages, such as large operation space, more degrees of freedom, low cost, easy placement, and convenient programming. However, the robotic manipulator has the problem of insufficient stiffness due to the series structures, which will cause motion errors of the manipulator end. In this paper, taking a 6-DOF robotic manipulator as an example, forward and inverse kinematics models are established, and a new modeling method for the joint angle and space stiffness of the end of the manipulator is proposed, which can establish the composite stiffness model of joint link stiffness and joint stiffness. An error compensation model is subsequently established. The experimental results indicate that the proposed error compensation method can effectively reduce the end motion error of the robotic manipulator, and hence, the working performance and accuracy of the manipulator can be improved. The proposed research is helpful for extending the application of robotic manipulators in precision machining and measurement.https://www.mdpi.com/2076-3417/11/21/10100robotic manipulatorstiffnesskinematics modelend trajectoryerror compensation |
| spellingShingle | Xuan Huang Lingbao Kong Guangxi Dong Modeling and Compensation of Motion Errors for 6-DOF Robotic Manipulators Applied Sciences robotic manipulator stiffness kinematics model end trajectory error compensation |
| title | Modeling and Compensation of Motion Errors for 6-DOF Robotic Manipulators |
| title_full | Modeling and Compensation of Motion Errors for 6-DOF Robotic Manipulators |
| title_fullStr | Modeling and Compensation of Motion Errors for 6-DOF Robotic Manipulators |
| title_full_unstemmed | Modeling and Compensation of Motion Errors for 6-DOF Robotic Manipulators |
| title_short | Modeling and Compensation of Motion Errors for 6-DOF Robotic Manipulators |
| title_sort | modeling and compensation of motion errors for 6 dof robotic manipulators |
| topic | robotic manipulator stiffness kinematics model end trajectory error compensation |
| url | https://www.mdpi.com/2076-3417/11/21/10100 |
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