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Self-compensation method for error of positioning accuracy of intelligent synchronous manipulator

ABSTRACT
The traditional positioning method of manipulator has the problems of poor accuracy and low efficiency. According to the positioning task type of the manipulator, the positioning model of the manipulator is constructed. Set up the manipulator joint coordinate system, combined with kinematics analysis, through the link parameters and joint variables to achieve the positioning analysis of the manipulator. The inverse method is introduced to compensate the positioning error of the robot arm by using image feature extraction and recognition technology. The experimental results show that the average positioning error of the traditional method is 1.4 mm, while the average positioning error of the proposed method is only 0.2 mm. The performance of the proposed method is proved to be better.
KEYWORDS
PAPER SUBMITTED: 2019-07-11
PAPER REVISED: 2019-09-16
PAPER ACCEPTED: 2019-09-17
PUBLISHED ONLINE: 2020-02-08
DOI REFERENCE: https://doi.org/10.2298/TSCI190711023W
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