Thermal error modeling method of truss robot based on GA-LSTM

• Published in: Industrial robot 2024-09, Vol.51 (5), p.809-819
• Main Authors: Li, Long, Chen, Binyang, Yu, Jiangli
• Format: Article
• Language: English
• Subjects: Accuracy; Clustering; Error analysis; Error compensation; Finite element method; Genetic algorithms; Heat; Methods; Modelling; Prediction models; Robots; Simulation models; Temperature measurement; Thermal simulation; Time series; Trusses
• ISSN: 0143-991X; 0143-991X; 1758-5791
• DOI: 10.1108/IR-11-2023-0283

PurposeThe selection of sensitive temperature measurement points is the premise of thermal error modeling and compensation. However, most of the sensitive temperature measurement point selection methods do not consider the influence of the variability of thermal sensitive points on thermal error modeling and compensation. This paper considers the variability of thermal sensitive points, and aims to propose a sensitive temperature measurement point selection method and thermal error modeling method that can reduce the influence of thermal sensitive point variability.Design/methodology/approachTaking the truss robot as the experimental object, the finite element method is used to construct the simulation model of the truss robot, and the temperature measurement point layout scheme is designed based on the simulation model to collect the temperature and thermal error data. After the clustering of the temperature measurement point data is completed, the improved attention mechanism is used to extract the temperature data of the key time steps of the temperature measurement points in each category for thermal error modeling.FindingsBy comparing with the thermal error modeling method of the conventional fixed sensitive temperature measurement points, it is proved that the method proposed in this paper is more flexible in the processing of sensitive temperature measurement points and more stable in prediction accuracy.Originality/valueThe Grey Attention-Long Short Term Memory (GA-LSTM) thermal error prediction model proposed in this paper can reduce the influence of the variability of thermal sensitive points on the accuracy of thermal error modeling in long-term processing, and improve the accuracy of thermal error prediction model, which has certain application value. It has guiding significance for thermal error compensation prediction.