Research on Precise Perception and Error Compensation of End-Effector Pose for Robotic Arms Based on Multimodal Sensor Fusion

Yize Liang; Kexin Li; Qixuan Sun

doi:10.47297/taposatWSP2633-456922.20260701

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Research on Precise Perception and Error Compensation of End-Effector Pose for Robotic Arms Based on Multimodal Sensor Fusion

7卷第1期

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Research on Precise Perception and Error Compensation of End-Effector Pose for Robotic Arms Based on Multimodal Sensor Fusion
Research on Precise Perception and Error Compensation of End-Effector Pose for Robotic Arms Based on Multimodal Sensor Fusion
School of Applied Engineering, Henan University of Science and Technology, Luoyang, Henan, 471023, China
2026年7卷第1期页码：104-109
纸质出版：2026-01-30
DOI：10.47297/taposatWSP2633-456922.20260701
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Yize Liang, Kexin Li & Qixuan Sun. (2026). Research on Precise Perception and Error Compensation of End-Effector Pose for Robotic Arms Based on Multimodal Sensor Fusion. 科技理论与实践（英文版）, 7(1), 104-109.

Liang Yize,Li Kexin,Sun Qixuan.Research on Precise Perception and Error Compensation of End-Effector Pose for Robotic Arms Based on Multimodal Sensor Fusion[J].Theory and Practice of Science and Technology,2026,07(01):104-109.
Yize Liang, Kexin Li & Qixuan Sun. (2026). Research on Precise Perception and Error Compensation of End-Effector Pose for Robotic Arms Based on Multimodal Sensor Fusion. 科技理论与实践（英文版）, 7(1), 104-109. DOI： 10.47297/taposatWSP2633-456922.20260701.

Liang Yize,Li Kexin,Sun Qixuan.Research on Precise Perception and Error Compensation of End-Effector Pose for Robotic Arms Based on Multimodal Sensor Fusion[J].Theory and Practice of Science and Technology,2026,07(01):104-109. DOI： 10.47297/taposatWSP2633-456922.20260701.

摘要

Abstract

Precise end-effector pose perception remains a core bottleneck constraining intelligent robot performance enhancement. Existing fusion methods suffer from insufficient positioning accuracy due to neglecting nonlinear error coupling. This paper proposes a solution based on multimodal sensor fusion

constructing a sensor system that integrates binocular vision

a six-axis MEMS IMU

and a force tactile array. By leveraging the complementary capabilities of each sensor

the system achieves global precise measurement

dynamic continuous perception

and contact scenario feedback.Through temperature characteristic experiments

temperature-electromotive force model parameters are obtained. An error modeling approach combining deep learning and multi-source information fusion constructs a nonlinear coupling error model

separating multiple interference factors and establishing a digital twin real-time calibration system. Experimental validation demonstrates that this system effectively decouples multimodal heterogeneous errors and addresses various uncertainties

providing reliable perception support for sub-millimeter precision operations of robotic arms and the implementation of intelligent manufacturing technologies.

关键词

Keywords

references

Wang, Y. N., Jiang, Y. M., Jiang, J., et al. Key Technologies for Robot Perception and Control and Their Applications in Intelligent Manufacturing [J]. Acta Automatica Sinica, 2023, 49(03): 494-513.

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Wei, Zongxi. Calibration Techniques and Error Compensation for Micro-Inertial Measurement Units [D]. Graduate University of Chinese Academy of Sciences (Changchun Institute of Optics, Mechanics and Physics), 2015.

Li Kai, Shan Heng, Pu Jinfei, et al. Design and Manufacturing of Butterfly-Wing Vibration Accelerometer [J]. Sensors and Microsystems, 2021, 40(06): 60-62.

Yang Ziyu, Zhao Jian, Li Cunjin, et al. Hydraulic Arm Joint Position Identification Method Based on Tilt Sensor Data Processing [J]. Hydraulics, Pneumatics and Sealing, 2025, 45(11): 71-77.

Qiu Zhicheng. Review of Research Progress in Vibration Measurement and Control of Flexible Robotic Arms [J]. Information and Control, 2021, 50(02): 141-161.

Yin Hongpei. Research on Positioning and Mapping Methods Based on Stereo Vision and Inertial Information [D]. Beijing Jiaotong University, 2023.

Wang Lei. Research on Detection and Analysis Methods for Pathological Gait Based on Inertial Measurement Units [D]. Zhejiang University, 2021.

Hu Xudong. Research on High-Performance Flexible Tactile Perception Array Systems [D]. South China University of Technology, 2024.

Wang Hao. Robotic Arm Motion Control for Industrial Assembly Demonstration Programming [D]. Zhejiang University, 2018.

Li Kun. Relationship Between Interface and Device Performance of Microstructured Flexible Tactile Sensors [D]. University of Science and Technology of China, 2024.

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