Journal of the Korean Society for Precision Engineering (한국정밀공학회지)
- Volume 16 Issue 7
- /
- Pages.66-72
- /
- 1999
- /
- 1225-9071(pISSN)
- /
- 2287-8769(eISSN)
Relative Error Compensation of Robot Using Neural Network
신경 회로망을 이용한 로봇의 상대 오차 보상
- Published : 1999.01.01
Abstract
Robot calibration is very important to improve the accuracy of robot manipulators. However, the calibration procedure is very time consuming and laborious work for users. In this paper, we propose a method of relative error compensation to make the calibration procedure easier. The method is completed by a Pi-Sigma network architecture which has sufficient capability to approximate the relative relationship between the accuracy compensations and robot configurations while maintaining an efficient network learning ability. By experiment of 4-DOF SCARA robot, KIRO-3, it is shown that both the error of joint angles and the positioning error of end effector are drop to 15
Keywords