A high-efficiency positioning error compensation method for a large parallel mechanism based on pose correction similarity
Robotic Intelligence and Automation
ISSN: 2754-6969
Article publication date: 2 September 2024
Issue publication date: 18 November 2024
Abstract
Purpose
Considering the influence of deformation error, the target poses must be corrected when compensating for positioning error but the efficiency of existing positioning error compensation algorithms needs to be improved. Therefore, the purpose of this study is to propose a high-efficiency positioning error compensation method to reduce the calculation time.
Design/methodology/approach
The corrected target poses are calculated. An improved back propagation (BP) neural network is used to establish the mapping relationship between the original and corrected target poses. After the BP neural network is trained, the corrected target poses can be calculated with short notice on the basis of the pose correction similarity.
Findings
Under given conditions, the calculation time when the trained BP neural network is used to predict the corrected target poses is only 1.15 s. Compared with the existing algorithm, this method reduces the calculation time of the target poses from the order of minutes to the order of seconds.
Practical implications
The proposed algorithm is more efficient while maintaining the accuracy of the error compensation.
Originality/value
This method can be used to quickly position the error compensation of a large parallel mechanism.
Keywords
Acknowledgements
The authors would like to acknowledge the editors and the reviewers for their insightful comments.
Funding: This work was supported by Shandong Provincial Natural Science Foundation [grant number ZR2022QE219]; the National Natural Science Foundation of China [grant number 52075036]; and the Scientific Research Foundation for the introduction of talent of Ludong University [grant numbers ZR2021008 and ZR2021007].
Conflicts of interest: The authors declare that they have no conflict of interest.
Data availability: The data that support the findings of this study are not publicly available. Data are, however, available from the authors upon reasonable request.
Code availability: Not applicable.
Ethics approval: Not applicable.
Consent to participate: The article has been written by the stated authors who are all aware of its content and approve its submission.
Consent for publication: If the article is accepted, the author agrees that the article will be published.
If accepted, the article will not be published elsewhere in the same form, in any language, without the written consent of the publisher.
Authors' contributions: The first author provided suggestions for writing the paper. The second author completed the article simulation analysis and experimental verification. The third author and the fourth author polished the paper.
Citation
Li, H., Wang, Z., Sun, N. and Sun, L. (2024), "A high-efficiency positioning error compensation method for a large parallel mechanism based on pose correction similarity", Robotic Intelligence and Automation, Vol. 44 No. 6, pp. 887-896. https://doi.org/10.1108/RIA-01-2024-0028
Publisher
:Emerald Publishing Limited
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