Plug-and-play positioning error compensation model for ripple suppressing in industrial robot polishing

Pandeng Jiang; Pandeng Jiang; Songlin Wan; Songlin Wan; Songlin Wan; Songlin Wan; Zhenqi Niu; Zhenqi Niu; Zhenqi Niu; HanJie Li; HanJie Li; HanJie Li; Yichi Han; Yichi Han; Yichi Han; Chaoyang Wei; Chaoyang Wei; Chaoyang Wei; Dawei Zhang; Jianda Shao; Jianda Shao; Jianda Shao

doi:10.1364/AO.506035

Applied Optics
Vol. 62,
Issue 32,
pp. 8670-8677
(2023)
•https://doi.org/10.1364/AO.506035

Plug-and-play positioning error compensation model for ripple suppressing in industrial robot polishing

Pandeng Jiang, Songlin Wan, Zhenqi Niu, HanJie Li, Yichi Han, Chaoyang Wei, Dawei Zhang, and Jianda Shao

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Pandeng Jiang, Songlin Wan, Zhenqi Niu, HanJie Li, Yichi Han, Chaoyang Wei, Dawei Zhang, and Jianda Shao, "Plug-and-play positioning error compensation model for ripple suppressing in industrial robot polishing," Appl. Opt. 62, 8670-8677 (2023)

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Abstract

The industrial robot-based polisher has wide applications in the field of optical manufacturing due to the advantages of low cost, high degrees of freedom, and high dynamic performance. However, the large positioning error of the industrial robot can lead to surface ripple and seriously restrict the system performance, but this error can only be inefficiently compensated for by measurement before each processing at present. To address this problem, we discovered the period-phase evolution law of the positioning error and established a double sine function compensation model. In the self-developed robotic polishing platform, the results show that the Z-axis error in the whole workspace after compensation can be reduced to $\pm {0.06}\;{\rm mm}$, which reaches the robot repetitive positioning error level; the Spearman correlation coefficients between the measurement and modeling errors are all above 0.88. In the practical polishing experiments, for both figuring and uniform polishing, the ripple error introduced by the positioning error is significantly suppressed by the proposed model under different conditions. Besides, the power spectral density (PSD) analysis has shown a significant suppression in the corresponding frequency error. This model gives an efficient plug-and-play compensation model for the robotic polisher, which provides possibilities for further improving robotic processing accuracy and efficiency.

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Corrections

21 December 2023: A correction was made to the Funding section.

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Data underlying the results presented in this paper are not publicly available at this time but may be obtained from the authors upon reasonable request.

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Height (mm)	$a$	$b$	$c_{1}$	$c_{2}$	$d_{1}$	$d_{2}$	$e_{1}$	$e_{2}$
0	−35.12	−4.99	$2.52 \times 10^{- 5}$	$1.18 \times 10^{- 5}$	87.22	172.46	$- π / 1 .38$	$- π / 1.67$
20	−33.04	−4.70	$2.42 \times 10^{- 5}$	$1.18 \times 10^{- 5}$	86.63	171.95	$π / 1.99$	$- π / 1.22$
40	−32.88	−6.33	$2.52 \times 10^{- 5}$	$1.15 \times 10^{- 5}$	85.83	171.34	$- π / 39.67$	$- π / 0.69$
60	−32.89	−6.31	$2.50 \times 10^{- 5}$	$1.20 \times 10^{- 5}$	85.49	170.81	$- π / 2.15$	$- π / 0.67$
80	−32.19	−6.09	$2.51 \times 10^{- 5}$	$1.21 \times 10^{- 5}$	84.90	170.47	$- π / 2.39$	$π / 2.09$

Height (mm)	$a$	$b$	$c_{1}$	$c_{2}$	$d_{1}$	$d_{2}$	$e_{1}$	$e_{2}$
0	−33.20	−5.60	$2.49 \times 10^{- 5}$	$1.18 \times 10^{- 5}$	87.15	172.50	$- π / 1.40$	$- π / 1.66$
20					86.60	172.00	$- π / 0.79$	$- π / 1.21$
40					86.05	171.50	$π / 6.70$	$- π / 1.02$
60					85.50	171.00	$- π / 2.25$	$π / 1.33$
80					84.95	170.50	$- π / 1.03$	$π / 1.64$

	Model	(ABB) IRB 6700
Industrial robot	Maximum load	150 kg
Polishing tool	Small tool radius (mm)	40
	Small tool offset (mm)	2
	Air pressure (MPa)	0.1
	Rotation speed (r/min)	300
Polishing liquid	Composition	Iron oxide
	Concentration	10%
Polishing path	Raster path

Height (mm)	$a$	$b$	$c_{1}$	$c_{2}$	$d_{1}$	$d_{2}$	$e_{1}$	$e_{2}$
0	−35.12	−4.99	$2.52 \times 10^{- 5}$	$1.18 \times 10^{- 5}$	87.22	172.46	$- π / 1 .38$	$- π / 1.67$
20	−33.04	−4.70	$2.42 \times 10^{- 5}$	$1.18 \times 10^{- 5}$	86.63	171.95	$π / 1.99$	$- π / 1.22$
40	−32.88	−6.33	$2.52 \times 10^{- 5}$	$1.15 \times 10^{- 5}$	85.83	171.34	$- π / 39.67$	$- π / 0.69$
60	−32.89	−6.31	$2.50 \times 10^{- 5}$	$1.20 \times 10^{- 5}$	85.49	170.81	$- π / 2.15$	$- π / 0.67$
80	−32.19	−6.09	$2.51 \times 10^{- 5}$	$1.21 \times 10^{- 5}$	84.90	170.47	$- π / 2.39$	$π / 2.09$

Height (mm)	$a$	$b$	$c_{1}$	$c_{2}$	$d_{1}$	$d_{2}$	$e_{1}$	$e_{2}$
0	−33.20	−5.60	$2.49 \times 10^{- 5}$	$1.18 \times 10^{- 5}$	87.15	172.50	$- π / 1.40$	$- π / 1.66$
20					86.60	172.00	$- π / 0.79$	$- π / 1.21$
40					86.05	171.50	$π / 6.70$	$- π / 1.02$
60					85.50	171.00	$- π / 2.25$	$π / 1.33$
80					84.95	170.50	$- π / 1.03$	$π / 1.64$

Abstract

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Equations (7)

Applied Optics