The Parameter Identification and Error Compensation of Robot Based on Dynacal System

Fei Qi; Xue Liang Ping; Jie Liu; Yi Jiang

doi:10.4028/www.scientific.net/AMM.701-702.788

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 701-702The Parameter Identification and Error...

The Parameter Identification and Error Compensation of Robot Based on Dynacal System

Abstract:

According to the robot positioning accuracy, this paper proposed an error compensation method after updating the controller parameters based on the D-H parameters model and Dynacal system. The proposed method is effectiveand was validated on the developed robot of which the mean error was reduced to 0.092mm. The method can greatly improve the positioning accuracy of the robot.

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Periodical:

Applied Mechanics and Materials (Volumes 701-702)

Pages:

788-792

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.701-702.788

Citation:

Cite this paper

Online since:

December 2014

Authors:

Fei Qi, Xue Liang Ping, Jie Liu, Yi Jiang

Keywords:

Error Compensation, Positioning Accuracy, Robot

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