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2006 IEEE International Conference on Robotics and Biomimetics
Error Compensation for a Parallel Robot Using Back Propagation Neural Networks
Kunming, China
December 17-December 20
ISBN: 1-4244-0570-X
ASCII Text
x 
 
null Li Ma, Weibin Rong, Lining Sun, Zheng Li, "Error Compensation for a Parallel Robot Using Back Propagation Neural Networks," Robotics and Biomimetics, IEEE International Conference on, pp. 1658-1663, 2006 IEEE International Conference on Robotics and Biomimetics, 2006.
 
 
BibTex
x
 
@article{ 10.1109/ROBIO.2006.340215,
author = {null Li Ma and Weibin Rong and Lining Sun and Zheng Li},
title = {Error Compensation for a Parallel Robot Using Back Propagation Neural Networks},
journal ={Robotics and Biomimetics, IEEE International Conference on},
volume = {0},
year = {2006},
isbn = {1-4244-0570-X},
pages = {1658-1663},
doi = {http://doi.ieeecomputersociety.org/10.1109/ROBIO.2006.340215},
publisher = {IEEE Computer Society},
address = {Los Alamitos, CA, USA},
}
 
 
RefWorks Procite/RefMan/Endnote
x 
 
TY - CONF
JO - Robotics and Biomimetics, IEEE International Conference on
TI - Error Compensation for a Parallel Robot Using Back Propagation Neural Networks
SN - 1-4244-0570-X
SP1658
EP1663
A1 - null Li Ma,
A1 - Weibin Rong,
A1 - Lining Sun,
A1 - Zheng Li,
PY - 2006
KW - null
VL - 0
JA - Robotics and Biomimetics, IEEE International Conference on
ER -
 
null Li Ma, Robotics Institute, Harbin Institute of Technology, Harbin, Heilongiiang Province, China. malian@hit
Weibin Rong, Robotics Institute, Harbin Institute of Technology, Harbin, Heilongiiang Province, China
Lining Sun, Robotics Institute, Harbin Institute of Technology, Harbin, Heilongiiang Province, China
Zheng Li, Robotics Institute, Harbin Institute of Technology, Harbin, Heilongiiang Province, China
This paper presents an error compensation method for a novel 6-DOF parallel robot using back propagation neural networks. The main error sources of the parallel robot are discussed. In order to improve the measuring accuracy, a specific target measured by a coordinate measuring machine is designed. The relationship of error map is established by the coordinate transformation. Experimental results showed that the pose accuracy of the parallel robot was improved by more than 60% after error compensation. A precise optical assembly was accomplished by the parallel robot after error compensation reliably and rapidly.
Citation:
null Li Ma, Weibin Rong, Lining Sun, Zheng Li, "Error Compensation for a Parallel Robot Using Back Propagation Neural Networks," robio, pp.1658-1663, 2006 IEEE International Conference on Robotics and Biomimetics, 2006
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