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Off-Line Programmed Error Compensation of an Industrial Robot in Ship Hull Welding

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Intelligent Robotics and Applications (ICIRA 2017)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 10463))

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Abstract

This paper presents the compliance modeling and error compensation for an industrial robot in the application of ship hull welding. The Cartesian stiffness matrix is derived using the virtual-spring approach, which takes the actuation and structural stiffness, arm gravity and external loads into account. Based on the developed stiffness model, a method to compensate the compliance error is introduced, being illustrated with an industrial robot along a welding trajectory. The results show that this compensation method can effectively improve the robot’s operational accuracy, allowing the actual trajectory of the robot with auxiliary loads to coincide with the target one approximately.

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Acknowledgement

The reported work is partly supported by the National Science and Technology Major Project (No. 2013ZX04003041-6), the Fundamental Research Funds for the Central Universities (No. DUT16RC(3)068), and the Liaoning Province STI major projects (No. 2015106007).

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Authors and Affiliations

  1. School of Mechanical Engineering, Dalian University of Technology, Dalian, 116024, China

    Guanglei Wu, Delun Wang & Huimin Dong

Authors
  1. Guanglei Wu
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  2. Delun Wang
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  3. Huimin Dong
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Corresponding author

Correspondence to Guanglei Wu .

Editor information

Editors and Affiliations

  1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    YongAn Huang

  2. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    Hao Wu

  3. Institute of Industrial Research, University of Portsmouth, Portsmouth, United Kingdom

    Honghai Liu

  4. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

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Wu, G., Wang, D., Dong, H. (2017). Off-Line Programmed Error Compensation of an Industrial Robot in Ship Hull Welding. In: Huang, Y., Wu, H., Liu, H., Yin, Z. (eds) Intelligent Robotics and Applications. ICIRA 2017. Lecture Notes in Computer Science(), vol 10463. Springer, Cham. https://doi.org/10.1007/978-3-319-65292-4_13

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  • DOI: https://doi.org/10.1007/978-3-319-65292-4_13

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-65291-7

  • Online ISBN: 978-3-319-65292-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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