{"title":"Enhancing Robot Calibration through Reliable High-Order Hermite Polynomials Model and SSA-BP Optimization","authors":"Yujie Zhang, Qi Fang, Yu Xie, Weijie Zhang, Runxiang Yu","doi":"10.1115/1.4063035","DOIUrl":null,"url":null,"abstract":"\n Various sources of error can lead to the position accuracy of the robot being orders of magnitude worse than its repeatability. For the accuracy of drilling in the aviation field, high-precision assembly, and other fields depend on the industrial robot's absolute positioning accuracy, it is essential to improve the accuracy of absolute positioning by calibration. In the present paper, an error model of the robot is established considering both constant and joint-dependent kinematic errors, and the robot model is modified by the Hermite polynomial. To identify joint-dependent kinematic errors, a robot calibration method based on back-propagation neural network(BP) optimized by Sparrow Search Algorithm (SSA-BP) is proposed, which optimize the uncertainty of weights and thresholds in the BP algorithm . To validate the efficiency of the proposed method, experiments on an EFORT ECR5 robot were implemented. The positioning error is reduced from 3.1704 mm to 0.2798 mm, and the positioning accuracy is improved by 91.27%. With the new calibration method using SSA-BP, robot positioning errors can be effectively compensated for and the robot positioning accuracy can be improved significantly.","PeriodicalId":54856,"journal":{"name":"Journal of Computing and Information Science in Engineering","volume":null,"pages":null},"PeriodicalIF":2.6000,"publicationDate":"2023-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Computing and Information Science in Engineering","FirstCategoryId":"5","ListUrlMain":"https://doi.org/10.1115/1.4063035","RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS","Score":null,"Total":0}
引用次数: 0
Abstract
Various sources of error can lead to the position accuracy of the robot being orders of magnitude worse than its repeatability. For the accuracy of drilling in the aviation field, high-precision assembly, and other fields depend on the industrial robot's absolute positioning accuracy, it is essential to improve the accuracy of absolute positioning by calibration. In the present paper, an error model of the robot is established considering both constant and joint-dependent kinematic errors, and the robot model is modified by the Hermite polynomial. To identify joint-dependent kinematic errors, a robot calibration method based on back-propagation neural network(BP) optimized by Sparrow Search Algorithm (SSA-BP) is proposed, which optimize the uncertainty of weights and thresholds in the BP algorithm . To validate the efficiency of the proposed method, experiments on an EFORT ECR5 robot were implemented. The positioning error is reduced from 3.1704 mm to 0.2798 mm, and the positioning accuracy is improved by 91.27%. With the new calibration method using SSA-BP, robot positioning errors can be effectively compensated for and the robot positioning accuracy can be improved significantly.
期刊介绍：
The ASME Journal of Computing and Information Science in Engineering (JCISE) publishes articles related to Algorithms, Computational Methods, Computing Infrastructure, Computer-Interpretable Representations, Human-Computer Interfaces, Information Science, and/or System Architectures that aim to improve some aspect of product and system lifecycle (e.g., design, manufacturing, operation, maintenance, disposal, recycling etc.). Applications considered in JCISE manuscripts should be relevant to the mechanical engineering discipline. Papers can be focused on fundamental research leading to new methods, or adaptation of existing methods for new applications.
Scope: Advanced Computing Infrastructure; Artificial Intelligence; Big Data and Analytics; Collaborative Design; Computer Aided Design; Computer Aided Engineering; Computer Aided Manufacturing; Computational Foundations for Additive Manufacturing; Computational Foundations for Engineering Optimization; Computational Geometry; Computational Metrology; Computational Synthesis; Conceptual Design; Cybermanufacturing; Cyber Physical Security for Factories; Cyber Physical System Design and Operation; Data-Driven Engineering Applications; Engineering Informatics; Geometric Reasoning; GPU Computing for Design and Manufacturing; Human Computer Interfaces/Interactions; Industrial Internet of Things; Knowledge Engineering; Information Management; Inverse Methods for Engineering Applications; Machine Learning for Engineering Applications; Manufacturing Planning; Manufacturing Automation; Model-based Systems Engineering; Multiphysics Modeling and Simulation; Multiscale Modeling and Simulation; Multidisciplinary Optimization; Physics-Based Simulations; Process Modeling for Engineering Applications; Qualification, Verification and Validation of Computational Models; Symbolic Computing for Engineering Applications; Tolerance Modeling; Topology and Shape Optimization; Virtual and Augmented Reality Environments; Virtual Prototyping
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