RTCP detection method for a 5-DOF hybrid machining robot

Abstract This paper mainly studies the application of RTCP testing theory and technology in hybrid robots. Firstly, based on multi-objective optimization algorithms, the RTCP testing center position and maximum testing attitude angle of the robot are obtained, so as to maximize the corresponding active joint motion range of the robot in joint space. Then, three standard RTCP test trajectories and an optimized 8-shape trajectory were designed and planned. Finally, calculate the minimum curvature radius of the RTCP trajectory, determine the maximum interpolation step size of the NC command, and generate corresponding NC commands based on the planned test trajectory for RTCP accuracy testing experiments of hybrid robots. The experimental results show that the RTCP method based on kinematic calibration can effectively detect the dynamic error of hybrid robots by detecting end position errors, thereby evaluating the five-axis linkage accuracy of hybrid robots.