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An attitude measurement method of industrial robots based on the inertial technology

Published online by Cambridge University Press:  06 April 2022

Rui Li ,
Xiaoling Cui Open the ORCID record for Xiaoling Cui [Opens in a new window] ,
Jiachun Lin  and
Yanhong Zheng
Rui Li
Affiliation:
Beijing Engineering Research Center of Precision Measurement Technology and Instruments, Beijing University of Technology, Beijing, China
Xiaoling Cui
Affiliation:
Beijing Engineering Research Center of Precision Measurement Technology and Instruments, Beijing University of Technology, Beijing, China
Jiachun Lin*
Affiliation:
Beijing Engineering Research Center of Precision Measurement Technology and Instruments, Beijing University of Technology, Beijing, China
Yanhong Zheng
Affiliation:
Beijing Institute of Spacecraft System Engineering, Beijing, China
*
*Corresponding Author. E-mail: linjc@bjut.edu.cn
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Abstract

The attitude control error of the robot end-effector directly affects the manufacturing accuracy. The study aims to develop a real-time measurement method of the industrial robot end-effector attitude in the field environment for improving the control accuracy of robot attitude.

In this paper, an attitude measurement method of robot end-effector based on the inertial technology was proposed. First, an inertial measurement system was designed, and the measurement parameters and installation errors were calibrated. Then the inertia measurement principle of robot end-effector attitude was explored, and the robot end-effector attitude measurement was realized with the fourth-order Runge−Kutta algorithm. In addition, the influence of the data processing algorithm and sampling frequency on the attitude accuracy was analyzed. Finally, a test platform was built to experimentally explore the proposed inertial measurement method.

The inertial measured data were compared with the data obtained with the laser tracker. The measurement accuracy of the inertial measurement method reached 0.15°, which met the accuracy requirements of real-time measurements of robot end-effector attitude in the manufacturing field.

The method proposed in this paper is convenient and can realize the real-time attitude measurement of industrial robot. The measurement results can compensate the attitude control error of the robot end-effector and improve the attitude control accuracy of the robot.

Keywords

industrial robotinertial technologyattitude measurementerror compensationfourth-order Runge−Kutta algorithm
Type
Research Article
Information
Robotica , Volume 40 , Issue 8 , August 2022 , pp. 2909 - 2931
Copyright
© The Author(s), 2022. Published by Cambridge University Press

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