Research on the improvement of robot positioning accuracy based on BAS PSO algorithm

Junhan Zhang; Lin Yang; Zexu Wu

doi:10.1117/12.2639562

27 June 2022 Research on the improvement of robot positioning accuracy based on BAS PSO algorithm

Junhan Zhang, Lin Yang, Zexu Wu

Proceedings Volume 12253, International Conference on Automation Control, Algorithm, and Intelligent Bionics (ACAIB 2022); 1225309 (2022) https://doi.org/10.1117/12.2639562
Event: Second International Conference on Automation Control, Algorithm, and Intelligent Bionics (ACAIB 2022), 2022, Qingdao, China

Abstract

With the continuous development of robot technology, the application scope of current industrial robots is becoming more and more extensive. However, the accuracy of industrial robots cannot meet the needs of high-end manufacturing. Therefore, it is necessary to improve the positioning accuracy of robots. In the process of this research, based on the kinematic error model of pose differential transformation and the kinematic error model of coordinate error transfer, the positioning accuracy of the robot is effectively improved. The kinematic parameter identification technology based on the BAS-PSO algorithm can guarantee the positioning accuracy of the robot to a large extent. After simulation experiments, it can be determined that the average comprehensive position error of the six-degree-of-freedom robot identified based on the BAS-PSO algorithm can be reduced from the original 0.302 mm and 0.210° to 0.081 mm and 0.042°. The average position error and average attitude error of the robot based on the positive kinematics model can be kept at 0.098 mm and 0.099°. Therefore, it can be determined that the robot positioning accuracy based on the BAS-PSO method has a significant improvement effect, and it has good identification accuracy and convergence speed.

Citation Download Citation

Junhan Zhang, Lin Yang, and Zexu Wu "Research on the improvement of robot positioning accuracy based on BAS PSO algorithm", Proc. SPIE 12253, International Conference on Automation Control, Algorithm, and Intelligent Bionics (ACAIB 2022), 1225309 (27 June 2022); https://doi.org/10.1117/12.2639562

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