Analysis and Compensation of Kinematic and Hysteresis Errors in Industrial Robots

摘要

Industrial robots are extensively utilized in handling, assembly, and welding tasks owing to their expansive workspace, scalability, flexibility, and cost-effectiveness. However, their inadequate absolute positioning accuracy significantly impedes their application in precise operational scenarios. To enhance robot positioning accuracy, the hysteresis error induced by gear meshing backlash is considered. Firstly, the impact of joint hysteresis on robot positioning errors is analyzed, the notion of modified joint space is introduced, and the similarity theory of error in modified joint space is analyzed. Secondly, for the problem of parameter overfitting of the universal Kriging model, a method of dynamically determining the basis function set by using the genetic algorithm is proposed. Finally, the target trajectory is corrected by a feed-forward iterative compensation algorithm. An experiment on a tandem industrial robot SMART5 NJ 220-2.7 is conducted to demonstrate the effectiveness of the compensation. The experimental results show that the error caused by joint hysteresis is significant, with joint 1 notably affecting y axis positioning accuracy, while joints 2 and 3 predominantly influence x axis positioning accuracy. Furthermore, cross-validation tests verified the good anti-overfitting effect of optimized Kriging for models with multiple input parameters and the good fitting accuracy of the modified space model for hysteresis errors. Moreover, after employing MJS&GPS+GA error modeling and feed-forward iteration compensation, the average absolute positioning error of the trajectory decreased by 81% to 0.09252 mm, and the maximum absolute positioning error decreased by 59% to 0.27713 mm.