Scholarlink

In response to the problem of excessive positioning errors in Fully-Gear-Driven Robotic Manipulator(FGDRM) that hinders automated operations, this paper proposes a positioning error compensation technique for FGDRM based on visual calculation. A visual measurement system is established, in which methods of multi-cameras arrangement optimization and FGDRM pose calculation are proposed. Additionally, an online positioning error compensation approach based on a fuzzy neural network PID algorithm is proposed. Experimental results demonstrate that the positioning accuracy for point-to-point, straight-line, and arc trajectories is improved by over 93%, with the mean positioning error reduced from 73.39 mm to 2.93 mm. This technique provides a support for the automation of FGDRM operations.

错误：搜索内容不能为空，请输入英文关键词
错误：关键词超出字数限制，请精简
高级检索

Positioning Error Compensation for Fully-Gear-Driven Robotic Manipulator Based on Visual Calculation

  • 会议论文

  • 发表日期：

    2025年

查看全文
  • Zhi Liu,
  • Jituo Li,
  • Wentang Chen,
  • Tingxi Xue,
  • Pei Yuan,
  • Dingcan Jin,
  • Jiefeng Jin,
  • Yifeng Zhang

摘要

In response to the problem of excessive positioning errors in Fully-Gear-Driven Robotic Manipulator(FGDRM) that hinders automated operations, this paper proposes a positioning error compensation technique for FGDRM based on visual calculation. A visual measurement system is established, in which methods of multi-cameras arrangement optimization and FGDRM pose calculation are proposed. Additionally, an online positioning error compensation approach based on a fuzzy neural network PID algorithm is proposed. Experimental results demonstrate that the positioning accuracy for point-to-point, straight-line, and arc trajectories is improved by over 93%, with the mean positioning error reduced from 73.39 mm to 2.93 mm. This technique provides a support for the automation of FGDRM operations.