According to the problem that the actual position of an industrial robot has deviation from its theoretical position in aviation manufacturing industry, the source of absolute positioning error of industrial robot is explored and its influence on the connection performance of aircraft components is analyzed. Based on the principle of absolute positioning error compensation of industrial robot, the role and importance of kinematic modeling, pose measurement, kinematic parameter error identification and error compensation on absolute positioning error compensation of industrial robot are described. The mainstream algorithms and techniques developed by domestic and foreign scholars in this field are compared, and problems and possible solutions existing in each step are summarized. After discussions on shortcomings of industrial robot offline and online error compensation technologies, a development trend of industrial robot absolute positioning error compensation technology is presented.

industrial robot  /  absolute positioning error  /  error analysis  /  error compensation technology