지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2020.10
- 수록면
- 323 - 328 (6page)
이용수
초록· 키워드
오류제보하기
In this study, a system to reproduce the positional relationship of two flanges to be connected using an industrial robot and enable the manufacturing of the connecting pipes was developed. The objective was to ensure that the robot can exhibit a high absolute positioning accuracy even when trained offline so as to reproduce the space accurately.
The error in various postures of the robot was measured using a laser tracker, and the servo information was simultaneously acquired by using the OpenNR-IF framework. The relationship between the positioning error and servo information was examined. It was noted that the relationship between multiple parameters such as the joint angle obtained as the servo information was highly complex. Therefore, the random forest approach was employed in machine learning to examine these relationships. Subsequently, the positioning error was predicted based on each parameter and corrected. Although the correction was inadequate, the mechanism to select the data to enhance the prediction accuracy was clarified, and several relevant key parameters were identified.
The error in various postures of the robot was measured using a laser tracker, and the servo information was simultaneously acquired by using the OpenNR-IF framework. The relationship between the positioning error and servo information was examined. It was noted that the relationship between multiple parameters such as the joint angle obtained as the servo information was highly complex. Therefore, the random forest approach was employed in machine learning to examine these relationships. Subsequently, the positioning error was predicted based on each parameter and corrected. Although the correction was inadequate, the mechanism to select the data to enhance the prediction accuracy was clarified, and several relevant key parameters were identified.
목차
Abstract
1. INTRODUCTION
2. THEORY
3. EXPERIMENTAL DEVICE
4. EXPERIMENTAL METHOD
5. EXPERIMENTAL RESULTS AND DISCUSSION
6. CONCLUSION
REFERENCES
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UCI(KEPA) : I410-ECN-0101-2020-003-001570453