Error Compensation for Industrial Robots

Wenhe LiaoWenhe Liao works as Professor and Vice President of Nanjing University of Science and Technology and serves as Standing Director of Chinese Society of Astronautics. He was Director of the Institute of Science and Technology at Nanjing University of Aeronautics and Astronautics and Director of Engineering Technology Research Center of Digital Design and Manufacture, Jiangsu Province, China. His research interests include digital design and manufacture and aerospace propulsion theory and engineering. Bo LiBo Li works as Assistant Professor at the College of Mechanical and Electrical Engineering of Nanjing University of Aeronautics and Astronautics. His research interests include robotics and intelligent control, electromechanical system dynamics and vibration control, and robot automatic assembly technology. Wei TianWei Tian works as Professor at the College of Mechanical and Electrical Engineering ofNanjing University of Aeronautics and Astronautics. His research interests include key technologies of digital flexible assembly, green remanufacturing process, and life evaluation. Pengcheng Li Pengcheng Li works as Assistant Professor at the College of Mechanical and Electrical Engineering of Nanjing University of Aeronautics and Astronautics. His research interests include robot vision and control and robotic machining technology.

Part 1 Theories.- Chapter 1 Introduction.- Chapter 2 Kinematic modeling.- Chapter 3 Positioning error compensation using kinematic calibration.- Chapter 4 Error-similarity-based positioning error compensation.- Chapter 5 Joint space closed-loop feedback.- Chapter 6 Cartesian space closed-loop feedback.- Part 2 Chapter 7 Applications in robotic drilling.- Chapter 8 Applications in robotic milling.