Guifang QIAO, Chunhui GAO, Xinyi JIANG, Simin XU, Di LIU. Spatial error prediction method for industrial robot based on Support Vector Regression[J]. Optics and Precision Engineering, 2024, 32(18): 2783

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- Optics and Precision Engineering
- Vol. 32, Issue 18, 2783 (2024)

Fig. 1. Schematic diagram of the joint coordinate system for the Staubli TX60 industrial robot

Fig. 2. Industrial robot calibration system

Fig. 3. Structure of SVR model

Fig. 4. Spatial distribution of pose measurement points for Staubli TX60 industrial robot

Fig. 5. Position error compensation for Staubli TX60 robot

Fig. 6. Attitude error compensation for Staubli TX60 robot

Fig. 7. Comparison of four methods for fitting position errors

Fig. 8. Comparison of four methods for fitting attitude errors
![[in Chinese]](/Images/icon/loading.gif)
Fig. 9. [in Chinese]
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Table 1. Theoretical MD-H parameters of Staubli TX60 robot
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Table 2. Neural network parameter settings
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Table 3. Comparison experimental results of robot pose error compensation

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