Research on robot optimal working space based on spiral theory

Yu-fei Li; Wei-min Ge; Zhi-li Zhang; Xiang-bin Zhao

doi:10.1117/12.2659087

23 November 2022 Research on robot optimal working space based on spiral theory

Yu-fei Li, Wei-min Ge, Zhi-li Zhang, Xiang-bin Zhao

Proceedings Volume 12454, International Symposium on Robotics, Artificial Intelligence, and Information Engineering (RAIIE 2022); 1245410 (2022) https://doi.org/10.1117/12.2659087
Event: International Symposium on Robotics, Artificial Intelligence, and Information Engineering (RAIIE 2022), 2022, Hohhot, China

Abstract

Because industrial robots have uneven positioning accuracy in the overall working space, they have greatly limited their applications in the fields of high -precision production and processing. Regarding this status quo, this article focuses on analyzing the optimal working space of industrial robots, and screening and limiting the optimal working scope of the selected industrial robots to ensure that the robot end is at a relatively high position with high positioning accuracy. This article selects the collaborative robot AUBO E3 for modeling, analysis and simulation. Calculate the robot based on the Jacques matrix and the number of conditions under the spiral theory, quantitatively depict the exercise performance of the robot. The excellent working space is visually simulated, and finally uses the API laser tracker to measure the end error of the robot. As a result, the accuracy of the end point in the optimal working space is higher than the endpoint accuracy of the overall work space.

Citation Download Citation

Yu-fei Li, Wei-min Ge, Zhi-li Zhang, and Xiang-bin Zhao "Research on robot optimal working space based on spiral theory", Proc. SPIE 12454, International Symposium on Robotics, Artificial Intelligence, and Information Engineering (RAIIE 2022), 1245410 (23 November 2022); https://doi.org/10.1117/12.2659087

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KEYWORDS

Space robots

Kinematics

Analytical research

Condition numbers

Monte Carlo methods

Motion measurement

Performance modeling

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