An Iterative Learning Strategy of Robot Manipulators with Spatial Perception

Abstract

Industrial robots that perform faithfully fixed trajectories or standard path commands are not enough to solve the problems caused by the deviations of workpiece size. For high positional accuracy, the development of robot manipulators with spatial perception is one of the achievable solutions. In order to make the robot manipulators sense spatial information, it needs to integrate proper sensors, such as a laser tracker that can accurately measure distances. Therefore, an iterative learning strategy of a robot manipulator with a laser tracker is described in this article. The proposed strategy is experimentally implemented on a six degree-of-freedom industrial robot manipulator. Experiment results show the effectiveness and functionality of the proposed method.