A Low-Cost Digital Twin-Driven Positioning Error Compensation Method for Industrial Robotic Arm
Zhaoqian Wu, Shaotao Chen, Jie Han, Shaohui Zhang, Jinglun Liang, Xiaoqing Yang
Abstract
In robotic arms, transmission error will cause positioning error, which increases with the wear and tear of the transmission mechanism. Positioning error will degrade the performance of the robotic arm. It is necessary to carry out intelligent maintenance for the robotic arm. In this article, a low-cost digital twin (DT)-driven positioning error compensation method is proposed for robotic arm. The DT model of the robotic arm is first established, including the physical layer, data transfer layer, model layer, functional layer, and application service layer. A low-cost attitude sensor is then applied to provide actual information of the robotic arm to the DT model. When the DT model senses the positioning error of the robotic arm, it reduces the positioning error by adjusting the motor angle. The effectiveness of the proposed method is finally verified by the experimental results under different conditions.