Real-time measurement and compensation based on iGPS for industrial robotic pose accuracy

Abstract

Abstract In order to satisfy the requirements of industrial robotic pose accuracy in the operation process, measurement and compensation methods based on iGPS (indoor Global Positioning System) are proposed. An iGPS measuring network is established by solving transformation relations between robotic coordinates and iGPS coordinate, setting up measuring field and calibrating external parameters of transmitters. According to the measured values of iGPS, pose accuracies are calculated, and robotic poses are compensated by modifying command pose and secondary motion fine-tuning respectively. Experiments are designed to verify the measurement and compensation methods. The robotic poses of pre and post compensation are depicted based on 30 successive motion cycles. The pose accuracies are calculated and the effects of the two compensation methods are compared. Experimental results show that the robotic pose accuracies are greatly improved by using the proposed methods, and the real-time compensation method of secondary motion fine-tuning has better compensation effect, which proves the feasibility and effectiveness of the real-time measurement and compensation method based on iGPS.