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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Autores principales:	Xuan Huang, Lingbao Kong, Guangxi Dong
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	robotic manipulator stiffness kinematics model end trajectory error compensation Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999
Acceso en línea:	https://doaj.org/article/8a285150b7a64efd9cbc069fbd43958c
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id	oai:doaj.org-article:8a285150b7a64efd9cbc069fbd43958c
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spelling	oai:doaj.org-article:8a285150b7a64efd9cbc069fbd43958c2021-11-11T15:10:19ZModeling and Compensation of Motion Errors for 6-DOF Robotic Manipulators10.3390/app1121101002076-3417https://doaj.org/article/8a285150b7a64efd9cbc069fbd43958c2021-10-01T00:00:00Zhttps://www.mdpi.com/2076-3417/11/21/10100https://doaj.org/toc/2076-3417Six 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.Xuan HuangLingbao KongGuangxi DongMDPI AGarticlerobotic manipulatorstiffnesskinematics modelend trajectoryerror compensationTechnologyTEngineering (General). Civil engineering (General)TA1-2040Biology (General)QH301-705.5PhysicsQC1-999ChemistryQD1-999ENApplied Sciences, Vol 11, Iss 10100, p 10100 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	robotic manipulator stiffness kinematics model end trajectory error compensation Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999
spellingShingle	robotic manipulator stiffness kinematics model end trajectory error compensation Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999 Xuan Huang Lingbao Kong Guangxi Dong Modeling and Compensation of Motion Errors for 6-DOF Robotic Manipulators
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.
format	article
author	Xuan Huang Lingbao Kong Guangxi Dong
author_facet	Xuan Huang Lingbao Kong Guangxi Dong
author_sort	Xuan Huang
title	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_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_sort	modeling and compensation of motion errors for 6-dof robotic manipulators
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/8a285150b7a64efd9cbc069fbd43958c
work_keys_str_mv	AT xuanhuang modelingandcompensationofmotionerrorsfor6dofroboticmanipulators AT lingbaokong modelingandcompensationofmotionerrorsfor6dofroboticmanipulators AT guangxidong modelingandcompensationofmotionerrorsfor6dofroboticmanipulators
_version_	1718437155541352448

Modeling and Compensation of Motion Errors for 6-DOF Robotic Manipulators

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