Using a Dynamic Interval Type-2 Fuzzy Interpolation Method to Improve Modeless Robots Calibrations

This paper is an extended research for a novel technique for the position error compensations of the robot and manipulator calibration process based on an IT2FEI (interval type-2 fuzzy error interpolation) method. Traditional robots calibration implements either model or modeless method. The compensation of position error in modeless method is to move the robot’s end-effector to a target position in the robot workspace, and to find the target position error based on the measured neighboring 4-point errors around the target position. A camera or other measurement device is attached on the robot’s end-effector to find and measure the neighboring position errors, and compensate the target position with the error interpolation results. By using the IT2FEI technique provided in this paper, the accuracy of the position error compensation can be greatly improved, which has been confirmed by the simulation results given in this paper. Compared with some other popular traditional interpolation methods, this IT2FEI technique is a better choice. The simulation results show that more accurate compensation result can be achieved using this technique compared with the type-1 fuzzy interpolation method.