摘要
Robot error compensation is a technique for enhancing the positioning accuracy of the system. This paper presented an error measuring technique for serial robots based on the multi-hole measuring method, combined with the intelligent particle swarm optimisation(PSO) to obtain the optimal solution of the robot’s error compensation values, thereby improving the positioning accuracy of the robot. In the experiment, the robot error was measured using self-made multi-hole measuring plates and probes, and the experimental data were combined with PSO for the error comprehensive analysis. The results showed that on this type of serial robot, the multi-hole measuring method and PSO algorithm had obvious error compensation effects, which effectively improved the positioning accuracy of the robot, with the error reduced by 35% after compensation.
