Research and Implementation of a Five-axis Grinding Robot Compensation Algorithm

This paper analyzes the advantages and disadvantages of both model-based compensation and modeless compensation methods,and,by taking into consideration the advantages of the structure features of five-axis grinding robots,presents a hybrid robotic compensation method for these robots,which combines the advantages of each compensation method.For the translational joint error,the modeless compensation method is adopted since its main error sources are difficult to model,and for the rotational joint error,a hybrid compensation method is used since its error sources are mainly geometric parameters and some of the parameters vary with the motion of the robot end.Robot compensation experiments are made to demonstrate the effectivity and feasibility of the proposed method.