Research on error compensation of multi-joint ultrasonic robot based on ontology

被引：0
|
作者：
Zheng, Huifeng [1 ]
Zhou, Xiaojun [1 ]
Li, Xiongbing [1 ]
机构：
[1] Zhejiang University, Hangzhou 310027, China
来源：
Nongye Jixie Xuebao/Transactions of the Chinese Society of Agricultural Machinery | 2008年 / 39卷 / 04期
关键词：
Industrial robots - Kinematics - Ontology - Ultrasonic testing;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
For the high need of direction aiming at ultrasonic testing, especially the test of surface work-pieces, it is necessary to make error compensation to improve the test accuracy. The kinematics analysis of ultrasonic robot was firstly done, then the principle and compensation model of multi-joint error compensation was expatiated though the analysis of sources and traits of the pose error. Finally the example was given to validate the error compensation method, by which the continuous ultrasonic test for curve surface was realized by exact control parameters.
引用
收藏
页码：164 / 167
相关论文
共 50 条
  • [21] Adaptive Tracking Control with Partial Regressor for Multi-joint Robot
    Uemura, Mitsunori
    Hirai, Hiroaki
    Miyazaki, Fumio
    IECON 2015 - 41ST ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, 2015, : 4441 - 4446
  • [22] The Gait Planning Theory and Technology Research on the Wheel-foot Multi-joint Mobile Robot
    Zhang Yeqing
    Luo Qingsheng
    Wang Meiling
    Wu Fan
    Wu Di
    26TH CHINESE CONTROL AND DECISION CONFERENCE (2014 CCDC), 2014, : 5086 - 5091
  • [23] Analysis of Airdrop and Safe Landing of the Multi-joint Snake Robot
    Wang, Chao
    Wei, Yiran
    Li, Bin
    Li, Dongfang
    Pan, Zhenhua
    Deng, Hongbin
    2017 9TH INTERNATIONAL CONFERENCE ON MODELLING, IDENTIFICATION AND CONTROL (ICMIC 2017), 2017, : 970 - 975
  • [24] Sliding mode control scheme for a jumping robot with multi-joint based on floating basis
    Yao Jianjun
    Di Duotao
    Gao Shuang
    He Lei
    Hu Shenghai
    INTERNATIONAL JOURNAL OF CONTROL, 2012, 85 (01) : 41 - 49
  • [25] Global Fuzzy Sliding Mode Control for Multi-joint Robot Manipulators Based on Backstepping
    Shao, Keyong
    Ma, Qianhui
    FOUNDATIONS OF INTELLIGENT SYSTEMS (ISKE 2013), 2014, 277 : 995 - 1004
  • [26] Research on friction modeling and compensation of robot joint based on RBFNN
    He M.
    Wu X.
    Shao G.
    Liu T.
    Yi Qi Yi Biao Xue Bao/Chinese Journal of Scientific Instrument, 2020, 41 (11): : 278 - 284
  • [27] Error Analysis Model of Aircraft Multi-joint Assembly Based on Linkage Mechanism Theory
    Tan, Changbai
    Xu, Jiang
    Zhou, Laishui
    An, Luling
    Wei, Wei
    APPLIED MECHANICS AND MANUFACTURING TECHNOLOGY, 2011, 87 : 43 - 48
  • [28] Motion Planning of Launching Stage for Multi-joint Jumping Robot
    Hu, Shenghai
    Deng, Kunxiu
    Li, Lin
    Zhang, Hong
    PROCEEDINGS OF THE 4TH INTERNATIONAL CONFERENCE ON MECHANICAL ENGINEERING AND MECHANICS, 2011, : 307 - +
  • [29] Robot arm control based on human multi-joint arm viscoelasiticity and operator theory
    Kubota, Shotaro
    Deng, Mingcong
    Noge, Yuichi
    2018 INTERNATIONAL CONFERENCE ON ADVANCED MECHATRONIC SYSTEMS (ICAMECHS), 2018, : 132 - 136
  • [30] A general approach for robot pose error compensation based on an equivalent joint motion error model
    Tian, Wenjie
    Huo, Mingshuai
    Zhang, Xiangpeng
    Song, Yongbin
    Wang, Lina
    MEASUREMENT, 2022, 203
12345