Error Calibration Analysis of Long Cantilever Inlet Inspection Robot

The long cantilever tandem articulated robot has great application prospects in complex curved surface working environments such as aircraft inlet inspection due to its advantages of flexibility and strong obstacle avoidance ability, but it is easy to cause the end position error accumulation. To increase the robot’s precision and decrease end inaccuracy, the robot needs to be calibrated. In this paper, the kinematics calibration method and the neural network calibration method are used to calibrate the long cantilever series articulated robot based on the rotary platform independently designed by the team. Compared with before calibration, the average position errors are reduced to 3.684 mm and 0.304 mm, respectively. It shows that the neural network calibration method has good applicability for this kind of robot.