THERMAL SCIENCE

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Minchuan Wang

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 co-ordinate 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
intelligent robotic arm, synchronous positioning, positioning accuracy, error compensation, kinematic analysis, inverse method
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
CITATION EXPORT: view in browser or download as text file
THERMAL SCIENCE YEAR 2020, VOLUME 24, ISSUE Issue 3, PAGES [1569 - 1576]
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Self-compensation method for error of positioning accuracy of intelligent synchronous manipulator

© 2024 Society of Thermal Engineers of Serbia. Published by the Vinča Institute of Nuclear Sciences, National Institute of the Republic of Serbia, Belgrade, Serbia. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution-NonCommercial-NoDerivs 4.0 International licence