On-line and dynamic thermal error compensation for Measuring robot

To reduce the influence of the temperature variation on the measurement result of the car body-in-white laser visual measurement system,a temperature error compensation model based on coordinate error is established with a sphere target which is mounted near the base frame of the industrial robot.At the meantime,the link parameter deviation characteristic is analyzed and the parameters with significant deviation are derived,considering the structural feature of the robot.The experiment results indicate that this method can make the repeatability error of the robot closed to the nominal value and improves the stability of the system dramatically,which can meet the requirement of the on-line and dynamic compensation.