Abstract：Accurate kinematics are fundamental to precise robot manipulations. This paper presents a motion compensation algorithm to correct for robot end-effector deformation caused by heavy loads. The data-driven method for 6D pose estimation of robot end-effector motion estimates the kinematic error based on a Gaussian process regression to predict the position of the offline target points. Then, a pose correction method based on the adjustment model is used to modify the measured and predicted values of the target points to improve the estimation accuracy of the 6D pose. Tests show that the structural deformation caused by heavy loads is well compensated for by this pose estimation method.
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2022, Vol. 62 
