Path accuracy analysis of industrial robot based on continuous dynamic time warping algorithm

LI Rui; WANG Bing-rong; CUI Xiao-ling

doi:10.37188/OPE.20212905.1084

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Path accuracy analysis of industrial robot based on continuous dynamic time warping algorithm

Micro\/Nano Technology and Fine Mechanics | 更新时间：2026-09-11

- Path accuracy analysis of industrial robot based on continuous dynamic time warping algorithm
- Optics and Precision Engineering Vol. 29, Issue 5, Pages: 1084-1094(2021)
- 作者机构：
  
  北京工业大学北京市精密测控技术与仪器工程技术研究中心，北京 100124
- 作者简介：
- 基金信息：
- DOI：10.37188/OPE.20212905.1084
  CLC： TP242.2
- Received：12 October 2020，
  
  Revised：2020-12-15，
  
  Published：15 May 2021
- 稿件说明：
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李睿,王炳荣,崔晓玲.基于连续动态时间规整算法的工业机器人轨迹准确度分析[J].光学精密工程,2021,29(05):1084-1094.

LI Rui,WANG Bing-rong,CUI Xiao-ling.Path accuracy analysis of industrial robot based on continuous dynamic time warping algorithm[J].Optics and Precision Engineering,2021,29(05):1084-1094.
李睿,王炳荣,崔晓玲.基于连续动态时间规整算法的工业机器人轨迹准确度分析[J].光学精密工程,2021,29(05):1084-1094. DOI： 10.37188/OPE.20212905.1084.

LI Rui,WANG Bing-rong,CUI Xiao-ling.Path accuracy analysis of industrial robot based on continuous dynamic time warping algorithm[J].Optics and Precision Engineering,2021,29(05):1084-1094. DOI： 10.37188/OPE.20212905.1084.

摘要

轨迹准确度是衡量工业机器人运动性能的关键指标，国内外对其检测与评价制定了相应的规范和标准。检测过程中受机器人运动偏差、测量系统的采样频率和测量误差的影响，理论轨迹与实际轨迹可能出现映射错误的问题。本文详细分析了国内外标准中对轨迹准确度的评价方法，提出了将动态时间规整（DTW）方法应用到工业机器人轨迹分析中，通过建立插值模型实现动态时间规整的连续化以提高算法的精度，并分析机器人运动速度和测量系统的采样频率对轨迹映射方法的影响。实验结果表明，与ISO标准方法相比，连续动态时间规整算法（CDTW）映射后的轨迹准确度提高73%，标准差减小86%，误差整体波动幅度明显变小。ISO标准方法和DTW算法能够很好地应用在直线轨迹准确度评价中，对于拐角轨迹ISO方法出现明显的映射错误，DTW算法解决了映射错误，但受机器人运动速度和测量系统采样频率的影响存在多点映射的问题，CDTW算法有效解决了此问题，提高了轨迹准确度。

Abstract

Path accuracy is the key index for measuring the motion performance of industrial robots. The relevant standards are formulated for the detection and evaluation of industrial robots locally and abroad. Owing to deviation in robot movement， the sampling frequency of the measurement system and the measurement error during the detection process， mapping errors between the theoretical and the actual trajectory may arise. In this paper， we analyze in detail the methods for evaluation of path accuracy in domestic and foreign standards， propose the application of the dynamic time warping （DTW） method to the path analysis of industrial robots， present how we realize the continuity of the DTW method by developing an interpolation model to improve the accuracy of the algorithm， and analyze the effect of the robot movement speed and sampling frequency of the measurement system on the path mapping method. The experimental results showed that， when compared with the path accuracy of the ISO standard method， that of the continuous DTW （CDTW） algorithm improved by 73%， the standard deviation decreased by 86%， and the overall error fluctuation decreased significantly. The ISO standard method and the DTW algorithm can be well applied to the accuracy evaluation of a linear path. For the corner path， the ISO method has obvious mapping errors， whereas the DTW algorithm solves the mapping error. However， owing to the effect of the robot motion speed and to the sampling frequency of the measurement system， there is a multi-point mapping problem. The CDTW algorithm effectively solves this problem and improves the path accuracy.

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