{"title":"带双编码器的机器人机械手的遵从误差补偿方法比较","authors":"A. Klimchik","doi":"10.1109/ROBIO58561.2023.10354557","DOIUrl":null,"url":null,"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.","PeriodicalId":505134,"journal":{"name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"8 3","pages":"1-6"},"PeriodicalIF":0.0000,"publicationDate":"2023-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Comparison of compliance error compensation approaches for robotic manipulators with double encoders\",\"authors\":\"A. Klimchik\",\"doi\":\"10.1109/ROBIO58561.2023.10354557\",\"DOIUrl\":null,\"url\":null,\"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.\",\"PeriodicalId\":505134,\"journal\":{\"name\":\"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)\",\"volume\":\"8 3\",\"pages\":\"1-6\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2023-12-04\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROBIO58561.2023.10354557\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROBIO58561.2023.10354557","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Comparison of compliance error compensation approaches for robotic manipulators with double encoders
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.
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