Comparison of compliance error compensation approaches for robotic manipulators with double encoders

Abstract

The paper deals with the comparison analysis of build-in and model-based control strategies for robots with double encoders. Particular attention is paid to the efficiency evaluation of the related compliance error compensation techniques. Three different model-based control strategies were examined. It was shown that reduced stiffness model-based and joint-compliance-ratio-based strategies could compensate twice as much as built-in feedback control based on the secondary encoder and reduce 77% of positioning errors. The complete stiffness model achieved a 97% compliance error compensation level and regardless of its complexity, it is a reasonable approach for the robots involved in high-accuracy contact applications.