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Research on high-precision positioning method of robot based on laser tracker

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Abstract

At present, the repetitive positioning accuracy of industrial robots has achieved high standards, but their absolute positioning accuracy still poses a challenge for the development of the robot industry in high-precision applications. This paper proposes a new method for achieving high-precision robot positioning using a laser tracker as an external measuring tool to collect data. The paper also introduces an innovative kinematics parameter identification algorithm based on BOA-PSO to solve kinematics error parameters and improve the accuracy of kinematics parameter identification. Additionally, three optimization strategies are introduced, including chaos initialization based on logistic mapping, adaptive mutation, and nonlinear parameter control based on sine function, to enhance the algorithm's ability to solve kinematic parameter errors and ensure the compensation effect of robot positioning errors. Finally, a calibration experiment effectively improves the absolute positioning accuracy of the robot. The maximum position error of the Staubli TX2-90L robot reduces from 0.8365 mm to 0.1617 mm. The minimum position error reduces from 0.1629 mm to 0.0486 mm. The mean position error reduces from 0.5388 mm to 0.0935 mm, and the standard deviation of position error reduces from 0.1752 mm to 0.0285 mm.

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All data generated or analyzed during this study are included in the manuscript and its supplementary information files.

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Acknowledgements

This work was supported by National key R&D Program of China (Grant No. 2021YFB3201600), and the National Natural Science Foundation of Liaoning (Grant No. 2020-MS-219).

Funding

This work was supported by National Key R&D Program of China (Grant No. 2021YFB3201600) and the National Natural Science Foundation of Liaoning (Grant No. 2020-MS-219).

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Authors and Affiliations

  1. School of Electrical and Control Engineering, Shenyang Jianzhu University, Wusan Street, Shenyang, 110168, Liaoning Province, China

    Ke Xu & Shuang Xu

  2. Department of Decision and Consultant, Party School of Liaoning Provincial Party Committee, Wulihe Street, Shenyang, 110004, Liaoning Province, China

    Qi Qi

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  1. Ke Xu
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  2. Shuang Xu
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Contributions

KX contributed significantly to the conception of the study and helped perform the analysis with constructive discussions. SX and QQ performed the literature analysis and wrote the manuscript. All authors read and approved the final manuscript.

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Correspondence to Ke Xu.

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Xu, K., Xu, S. & Qi, Q. Research on high-precision positioning method of robot based on laser tracker. Intel Serv Robotics 16, 361–371 (2023). https://doi.org/10.1007/s11370-023-00467-5

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