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Enhancing trajectory-tracking accuracy of high-acceleration parallel robots by predicting compliant displacements

Published online by Cambridge University Press:  08 January 2025

Erkan Paksoy Open the ORCID record for Erkan Paksoy [Opens in a new window] ,
Mehmet İsmet Can Dede Open the ORCID record for Mehmet İsmet Can Dede [Opens in a new window]  and
Gökhan Kiper Open the ORCID record for Gökhan Kiper [Opens in a new window]
Erkan Paksoy
Affiliation:
Mechanical Engineering Department, İzmir Institute of Technology, İzmir, Turkey
Mehmet İsmet Can Dede*
Affiliation:
Mechanical Engineering Department, İzmir Institute of Technology, İzmir, Turkey
Gökhan Kiper
Affiliation:
Mechanical Engineering Department, İzmir Institute of Technology, İzmir, Turkey
*
Corresponding author: Mehmet İsmet Can Dede; Email: candede@iyte.edu.tr
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Abstract

For precision-required robot operations, the robot’s positioning accuracy, repeatability, and stiffness characteristics should be considered. If the mechanism has the desired repeatability performance, a kinematic calibration process can enhance the positioning accuracy. However, for robot operations where high accelerations are needed, the compliance characteristics of the mechanism affect the trajectory-tracking accuracy adversely. In this paper, a novel approach is proposed to enhance the trajectory-tracking accuracy of a robot operating at high accelerations by predicting the compliant displacements when there is no physical contact of the robot with its environment. Also, this case study compares the trajectory-tracking characteristics of an over-constrained and a normal-constrained 2-degrees-of-freedom (DoF) planar parallel mechanism during high-acceleration operations up to 5 g accelerations. In addition, the influence of the end-effector’s center of mass (CoM) position along the normal of the plane is investigated in terms of its effects on the proposed trajectory-enhancing algorithm.

Keywords

high-acceleration industrial robotstrajectory-tracking accuracycompliant displacement compensation
Type
Research Article
Information
Robotica , First View , pp. 1 - 27
Copyright
© The Author(s), 2025. Published by Cambridge University Press

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