Tracking of trajectory with dynamic deformation based on dynamic compensation concept

Kenta Kajihara, Shouren Huang, Niklas Bergström, Yuji Yamakawa, Masatoshi Ishikawa

Abstract: This paper focuses on high-performance robotic tracking of trajectory in the presence of the uncertainties that commonly exist in actual robotic applications. These uncertainties can be attributed to the robot itself, such as modeling errors or mechanical defects like backlash, or to environmental issues, such as calibration errors or misalignment of the workpiece. We proposed a non-model-based dynamic compensation approach based on the coarse-to-fine philosophy, which enables contour tracking with both high speed and good accuracy. This is achieved by adopting a methodology in which a main robot performs fast but coarse motion, while an add-on module conducts accurate compensation for the overall uncertainties using a high-speed camera and a high-speed compensation actuator. By developing a two-axis compensation mechanism and combining it with a high-speed camera, we developed a system that realizes a high-speed, high-accuracy line tracking operation. We evaluated the performance of the dynamic line tracking for deforming flexible objects.