Prediction of Geometric Errors of a Robot Manipulator with Particle Swarm Optimisation

摘要

This paper presents an approach to the prediction of the expected positioning errors of robot manipulators due to their geometric parameters. A Swarm Intelligence (SI) based algorithm (Particle Swarm Optimisation - PSO) has been used to generate error estimator functions. The experimental system used is a Motoman SK 120 manipulator. The error estimation functions are based on the robot position data provided by a high precision laser measurement system. The functions have been verified for a test trajectory, which contains various configurations of the manipulator. The experimental results demonstrate that the positioning errors of robot manipulators can be effectively predicted with PSO. It must he emphasised that once the estimation functions are obtained, there is no need of any further experimental data in order to determine the expected positioning errors for a subsequent use in the error correction process.