Contour Error Control for a Hybrid Robot Equipped with Grating Sensors
To mitigate the detrimental effects of joint elasticity and transmission errors on contour accuracy and to improve the multi-axis motion performance of hybrid robots, this study investigates contour error modeling and control by leveraging additional grating sensors for real-time measurements. Accou...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-06-01
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| Series: | Machines |
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| Online Access: | https://www.mdpi.com/2075-1702/13/6/502 |
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| _version_ | 1839653485978583040 |
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| author | Xianlei Shan Tianyu Zou Haitao Liu Yu Deng Juliang Xiao |
| author_facet | Xianlei Shan Tianyu Zou Haitao Liu Yu Deng Juliang Xiao |
| author_sort | Xianlei Shan |
| collection | DOAJ |
| description | To mitigate the detrimental effects of joint elasticity and transmission errors on contour accuracy and to improve the multi-axis motion performance of hybrid robots, this study investigates contour error modeling and control by leveraging additional grating sensors for real-time measurements. Accounting for the inherent pose coupling characteristics of hybrid robots, a novel contour error modeling method is proposed that employs six-dimensional exponential coordinates for error description and incorporates an efficient search algorithm for foot point determination. Building upon an existing grating sensor feedback control framework, a proportional contour controller is developed. Experimental validation on the TriMule-200 hybrid robot demonstrates an enhancement in end-effector contour accuracy. |
| format | Article |
| id | doaj-art-7898e16f7e4c49d9b76e70f743e4c88c |
| institution | Matheson Library |
| issn | 2075-1702 |
| language | English |
| publishDate | 2025-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj-art-7898e16f7e4c49d9b76e70f743e4c88c2025-06-25T14:07:19ZengMDPI AGMachines2075-17022025-06-0113650210.3390/machines13060502Contour Error Control for a Hybrid Robot Equipped with Grating SensorsXianlei Shan0Tianyu Zou1Haitao Liu2Yu Deng3Juliang Xiao4Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300354, ChinaKey Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300354, ChinaKey Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300354, ChinaKey Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300354, ChinaKey Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300354, ChinaTo mitigate the detrimental effects of joint elasticity and transmission errors on contour accuracy and to improve the multi-axis motion performance of hybrid robots, this study investigates contour error modeling and control by leveraging additional grating sensors for real-time measurements. Accounting for the inherent pose coupling characteristics of hybrid robots, a novel contour error modeling method is proposed that employs six-dimensional exponential coordinates for error description and incorporates an efficient search algorithm for foot point determination. Building upon an existing grating sensor feedback control framework, a proportional contour controller is developed. Experimental validation on the TriMule-200 hybrid robot demonstrates an enhancement in end-effector contour accuracy.https://www.mdpi.com/2075-1702/13/6/502hybrid robotgrating sensorcontour errorcontour control |
| spellingShingle | Xianlei Shan Tianyu Zou Haitao Liu Yu Deng Juliang Xiao Contour Error Control for a Hybrid Robot Equipped with Grating Sensors Machines hybrid robot grating sensor contour error contour control |
| title | Contour Error Control for a Hybrid Robot Equipped with Grating Sensors |
| title_full | Contour Error Control for a Hybrid Robot Equipped with Grating Sensors |
| title_fullStr | Contour Error Control for a Hybrid Robot Equipped with Grating Sensors |
| title_full_unstemmed | Contour Error Control for a Hybrid Robot Equipped with Grating Sensors |
| title_short | Contour Error Control for a Hybrid Robot Equipped with Grating Sensors |
| title_sort | contour error control for a hybrid robot equipped with grating sensors |
| topic | hybrid robot grating sensor contour error contour control |
| url | https://www.mdpi.com/2075-1702/13/6/502 |
| work_keys_str_mv | AT xianleishan contourerrorcontrolforahybridrobotequippedwithgratingsensors AT tianyuzou contourerrorcontrolforahybridrobotequippedwithgratingsensors AT haitaoliu contourerrorcontrolforahybridrobotequippedwithgratingsensors AT yudeng contourerrorcontrolforahybridrobotequippedwithgratingsensors AT juliangxiao contourerrorcontrolforahybridrobotequippedwithgratingsensors |