Positioning error compensation on two-dimensional manifold for robotic machining

Abstract

Abstract To improve the efficiency of error compensation for robotic machining, this paper proposes a new method which contains the two-dimensional manifold that reduces the dimensionality of the workspace. The theory for error compensation in two-dimensional workspace is briefly described, which is based on the continuity of positioning errors. With two-dimensional manifold developed from robot posture optimization, the continuity of positioning errors and robot s kinematic parameters is theoretically proved in the two-dimensional space. The continuity of robot s kinematic parameters such as joint angles is also verified by simulations performed in Delmia and Matlab. To verify the effectiveness of proposed method, experiments have been conducted on a typical industrial robot. The results show that positioning errors are continuous in two-dimensional space which validates the feasibility of theory, and the average positioning error of end effector is decreased by more than 70% after compensation which meets the requirement of robotic machining.