Related Experiment Video
Updated: Jan 17, 2026
10:09
Operation of the Collaborative Composite Manufacturing CCM System
Published on: October 1, 2019
7.1K
Research on robot positioning error compensation algorithm based on the Dog Leg and PSONN algorithm
1School of Instrument Science and Opto-electronic Engineering, Hefei University of Technology, Hefei, China.
Plos One
|September 16, 2025
Summary
This study introduces an industrial robot error compensation algorithm, combining kinematic calibration and advanced prediction methods. The novel approach significantly enhances robot positioning accuracy and reduces localization errors.
Area of Science:
- Robotics
- Control Systems
- Machine Learning
Background:
- Industrial robots exhibit lower absolute positioning accuracy compared to repetitive tasks.
- Existing algorithms often suffer from low accuracy or local optima issues.
Purpose of the Study:
- To propose an advanced error compensation algorithm for industrial robots.
- To improve the absolute positioning accuracy of industrial robots.
Main Methods:
- Kinematic parameter calibration using an enhanced Dog Leg algorithm.
- Odd point error prediction with Particle Swarm Optimization Neural Network (PSONN).
- Positioning error calculation via Spatial Grid Multipoint Interpolation (SGMI).
Main Results:
- Kinematic calibration reduced positioning error from 3.158 mm to 0.406 mm.
- SGMI compensation further decreased positioning error to 0.0685 mm.
- The algorithm effectively calibrated kinematic parameters and reduced uncertainty.
Conclusions:
- The proposed algorithm integrates traditional interpretability with neural network non-linearity.
- It successfully addresses limitations of traditional methods and neural networks.
- The SGMI algorithm significantly enhances industrial robot positioning accuracy.
Related Concept Videos
01:29Relative Motion Analysis using Rotating Axes-Problem Solving
704
Consider a crane whose telescopic boom rotates with an angular velocity of 0.04 rad/s and angular acceleration of 0.02 rad/s2. Along with the rotation, the boom also extends linearly with a uniform speed of 5 m/s. The extension of the boom is measured at point D, which is measured with respect to the fixed point C on the other end of the boom. For the given instant, the distance between points C and D is 60 meters.
Here, in order to determine the magnitude of velocity and acceleration for point...
Here, in order to determine the magnitude of velocity and acceleration for point...
704
01:03Centroid of a Body: Problem Solving
1.8K
The centroid of a body is a crucial concept in engineering and physics. Finding the centroid of a body can help determine its stability, its balance point, and even its design. In this context, consider a thin wire bent in the form of a quarter circular arc. Polar coordinates are used to calculate the centroid. The wire is first divided into small differential elements of a length equal to the radius multiplied by the differential angle.
The x-coordinates and y-coordinates of each element's...
The x-coordinates and y-coordinates of each element's...
1.8K
01:15Kinematic Equations: Problem Solving
27.3K
When analyzing one-dimensional motion with constant acceleration, the problem-solving strategy involves identifying the known quantities and choosing the appropriate kinematic equations to solve for the unknowns. Either one or two kinematic equations are needed to solve for the unknowns, depending on the known and unknown quantities. Generally, the number of equations required is the same as the number of unknown quantities in the given example. Two-body pursuit problems always require two...
27.3K
01:25Relative Motion Analysis using Rotating Axes
881
Consider a component AB undergoing a linear motion. Along with a linear motion, point B also rotates around point A. To comprehend this complex movement, position vectors for both points A and B are established using a stationary reference frame.
However, to express the relative position of point B relative to point A, an additional frame of reference, denoted as x'y', is necessary. This additional frame not only translates but also rotates relative to the fixed frame, making it...
However, to express the relative position of point B relative to point A, an additional frame of reference, denoted as x'y', is necessary. This additional frame not only translates but also rotates relative to the fixed frame, making it...
881
01:24One-Degree-of-Freedom System
808
In mechanical engineering, one-degree-of-freedom systems form the basis of a wide range of electrical and mechanical components. Using these models, engineers can predict the behavior of various parts in a larger system, which gives them insight into how different forces interact with each other.
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
808
01:07Time-Domain Interpretation of PD Control
377
Proportional-Derivative (PD) control is a widely used control method in various engineering systems to enhance stability and performance. In a system with only proportional control, common issues include high maximum overshoot and oscillation, observed in both the error signal and its rate of change. This behavior can be divided into three distinct phases: initial overshoot, subsequent undershoot, and gradual stabilization.
Consider the example of control of motor torque. Initially, a positive...
Consider the example of control of motor torque. Initially, a positive...
377