On the comparison of interpolation techniques for robotic position compensation

摘要

This paper describes a novel technique for the position error compensations of the robot and manipulator calibration process based on a fuzzy error interpolation method. Traditional robots calibration implements model and modeless methods. Bilinear and cubic splines are the two popular techniques for the compensation of position error in modeless method. By using the fuzzy error interpolation technique provided in this paper, the accuracy of the position error compensation can be greatly improved. The comparison between the two popular traditional interpolation methods and this fuzzy error interpolation technique is made via simulation for three commonly used error models. The simulation results show that more accurate compensation result can be achieved using the fuzzy error interpolation technique compared with the bilinear and cubic spline interpolation methods.