AN IMPROVED KINEMATIC ERROR CONTROLLER FOR REAL-TIME KINEMATIC ERROR COMPENSATION OF INDUSTRIAL ROBOTS

抄録

There is a growing interest to utilize industrial robots for more advanced manufacturing applications, such as machining; however, their poor accuracy has inhibited their use in these applications. It has been shown that a robot's accuracy could be improved through real-time compensation of its kinematic error using the Kinematic Error Controller (KEC). Unfortunately, this controller suffered from a slow settling time of 8.76 s due to a compensation strategy that coupled its feedback and observer dynamics. In this work, the previous control framework is modified, resulting in an improved KEC that can achieve settling times of 1.89 s, a 78.4% improvement.