![]() ![]() ![]() Finally, the G codes are modified by combining the iterative method and the inverse kinematic model to realize the compensation of the pose errors. Considering the position and orientation accuracy of the EPR, a comprehensive optimization objective function is established, and all the pose errors are identified synchronously using the Levenberg-Marquardt optimization algorithm, which greatly reduces the pose errors of the AFP machine. According to the geometric errors and the offset errors of the machine coordinate system obtained by the analysis, the pose error transfer model of the AFP machine is established. Based on the screw theory and homogeneous transformation matrix, ideal forward and inverse kinematic models are established and verified on the actual placement path. In order to quickly measure the pose of the EPR, a special pose measurement tool is designed. ![]() Due to the particularity of the elastic pressure roller (EPR) of the end-effector, a calibration method of the pressure roller coordinate system is proposed. This paper presents a method for measuring, identifying, and compensating the pose errors of a six-axis gantry automated fiber placement (AFP) machine. The validation experiment shows the proposed method reduced the mean of distance error/distance and relative positioning error/relative positioning from 14.30 µm/mm to 4.4 µm/mm and from 20.15 µm/mm to 10.85 µm/mm. Simulations prove the performance of the proposed solution by comparing it with the current distance and positioning error methods. In addition, the influence of the redundant parameter on the error of relative position is analyzed, which indicates it can further improve the relative position’s accuracy. Then, an optimization function of the distance errors is proposed without an approximation condition to identify the controller's modifiable parameter errors. For implementation, a three-dimensional measurement system with R-test is designed to measure the robot end-effector's distance, which is the first successful use of this system for robot calibration. ![]() This paper proposes a kinematic calibration method based on the optimized distance error function to improve the accuracy of the relative positions of industrial robots. ![]()
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