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Novel kinematic model of a SCARA-type robot with bi-directional angular positioning deviation of rotary axes

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Abstract

This paper proposed a kinematic model and its calibration scheme to further improve an industrial robots absolute positioning accuracy over the entire workspace. To demonstrate the proposed model and its effectiveness in simplified kinematics, this paper only targets a SCARA (Selective Compliance Assembly Robot Arm)-type robot. The proposed model includes not only link length errors and rotary axis angular offsets, widely known as the Denavit-Hartenberg (D-H) parameters, but also the “error map” of the angular positioning deviation of each rotary axis, modelled as a function of command angular position, and the rotation direction to model the influence of backlash. The angular positioning deviation of each rotary axis is identified by measuring the robots end-effector position by a laser tracker with indexing each rotary axis at prescribed angular positions. To verify the validity of the identified model, the effectiveness of the compensation based on it is experimentally investigated. By the compensation, the robot’s average absolute position error was reduced by 33% to 0.034mm. Furthermore, this paper experimentally demonstrates that the proposed model can be extended to the radial error motion, axis-to-axis cross talk, and the three-dimensional positioning with orientation errors of axis average lines.

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The data and material that support the findings of this study are available on request.

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Funding

The research leading to these results received funding from Japan Society for the Promotion of Science (JSPS) KAKENHI under Grant Number JP18K03874.

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Authors and Affiliations

  1. School of Engineering, The University of Tokyo, 4-6-1 Komaba, Meguro-ku, 153-8505, Tokyo, Japan

    Nan Zhao

  2. Graduate School of Advanced Science and Engineering, Hiroshima University, 1-3-2 Kagamiyama, Higashi-Hiroshima, 739-8511, Hiroshima, Japan

    Soichi Ibaraki

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  1. Nan Zhao
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  2. Soichi Ibaraki
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These authors contributed equally to this work.

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Correspondence to Soichi Ibaraki.

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Zhao, N., Ibaraki, S. Novel kinematic model of a SCARA-type robot with bi-directional angular positioning deviation of rotary axes. Int J Adv Manuf Technol 120, 4901–4915 (2022). https://doi.org/10.1007/s00170-022-08943-5

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  • DOI: https://doi.org/10.1007/s00170-022-08943-5

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