Comparison of Positioning Error Prediction Results of Industrial Robots Based on Three Different Types of Neural Networks

Abstract

With the increasing development of industry, the market demand for manufacturing has shifted to large-scale customized production. This poses new challenges to the production flexibility of industrial robots. The offline programming method can perfectly meet this challenge. But its disadvantage is that it relies heavily on the absolute positioning accuracy of industrial robots. In recent years, there has been an increasing number of studies using neural networks (NN) to predict the positioning errors of industrial robots to improve their absolute positioning accuracy. However, most of these studies only focus on the application of NNs, and do not compare the prediction results and performance of different kinds of NNs. This paper selects three typical network models: backpropagation neural network (BPNN), particle swarm algorithm optimization BPNN (PSO-BPNN), and radial basis function neural network (RBFNN). Through in-depth experiments and analysis of these networks, the purpose is to reveal their respective prediction effects and characteristics and to summarize their advantages and disadvantages. Experimental results show that BPNN performs poorly in predicting positioning errors. As an optimization method, the particle swarm algorithm can effectively improve the prediction performance of BPNN. In contrast, the RBFNN performs well, which makes it very suitable for predicting the positioning error of industrial robots.