Research on high-precision tracking and localization of industrial robots based on iGPS

摘要

Abstract High-precision tracking and localization of the end of industrial robots is one of the most important technologies to realize high efficiency, high precision, and high safety of robots. Indoor global positioning system (iGPS), as a widely used indoor measurement system, has many advantages that cannot be replaced by other measurement devices, such as high scalability, simultaneous measurement of multiple targets, etc. However, due to the unique measurement principle of iGPS, it does not have good dynamic measurement performance. In order to enhance the dynamic measurement performance of iGPS and maximize its advantages, this paper proposes a correction algorithm that can effectively improve the dynamic measurement accuracy of iGPS based on the ideas of ‘transforming motion into static’ and ‘equivalent substitution’ after in-depth research on the measurement principle of iGPS. To verify the correctness of the mathematical principle of the algorithm and the value of engineering application, this paper has carried out a MATLAB simulation test and real measurement test. The experimental results show that the proposed correction algorithm can effectively improve the dynamic measurement accuracy of iGPS, and the correction algorithm can reduce the global error of the measurement results to within 0.1 mm in any robot trajectory and reasonable speed range, which is in line with the general requirements of industrial measurement.