Searching for an Accurate Robot Calibration via Improved Levenberg–Marquardt and Radial Basis Function System

Abstract

ABSTRACT Robots are frequently utilized in manufacturing, aviation, and other industries, which enhance industrial production efficiency and quality. Specifically, robots perform high‐precision tasks like welding, assembly and material handling, which reduce the intensity of manual labor in factories. In the logistics field, robots automatically sort and deliver goods, thereby speeding up supply chain operations. However, the prolonged operation of robots suffers from a decline in positioning accuracy, which makes them unable to satisfy task requirements. To address this challenging issue, this study designs an efficient calibration system integrating the Levenberg–Marquardt algorithm with fuzzy proportion integration differentiation controller and radial basis function neural network. The innovations of this method include: (1) integrating the fuzzy proportion integration differentiation controller into the updating rules of Levenberg–Marquardt algorithm, which further enhances the identification performance of kinematic errors; (2) adopting the radial basis function neural network to handle the robot dynamic errors, which addresses the complexity of dynamic error sources. Extensively experimental robot positioning points are gathered on an HSR JR680 robot, and then experimental validations are conducted by using the designed calibration system. The experiments indicate that the developed algorithm outperforms these existing advanced algorithms.