Enhanced Error Compensation Method for Robotic Machining System via Two-Step Kinematic Parameters Calibration

摘要

Mobile robot machining system offers an effective solution for the integrated machining of large-scale components. However, the lower absolute positioning accuracy of industrial robots poses a significant challenge to achieving high-precision manufacturing of such components. Identifying robot kinematic parameters and compensating for motion errors represent effective approaches to enhancing the absolute positioning accuracy of robots. In this paper, we propose a two-step method for identifying robot kinematic parameters, which combines the LASSO algorithm with the IPSO algorithm, aiming to improve the absolute positioning accuracy of robotic machining systems for large-scale components. Initially, values of robot kinematic parameter deviations are obtained by applying the LASSO algorithm. These values then serve as initial particles for the IPSO algorithm, enabling more efficient and accurate kinematic parameter identification. Subsequently, the kinematic parameters of the robot machining system are efficiently calibrated. Experimental results demonstrate that the maximum absolute positioning error is improved by over 90% before calibration, demonstrating the validity of the proposed method in enhancing the absolute positioning accuracy of industrial robots.