Calibration and error compensation of the intelligent robot welding system for the milling rotor

Calibration and error compensation of the intelligent robot welding system for the milling rotor | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Calibration and error compensation of the intelligent robot welding system for the milling rotor Kaixuan Kang, Yuwen Sun, Lingyu Jin, Bin Liang, Mingxuan Zhu, and 1 more This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-7921511/v1 This work is licensed under a CC BY 4.0 License Status: Published Journal Publication published 16 Mar, 2026 Read the published version in The International Journal of Advanced Manufacturing Technology → Version 1 posted 4 You are reading this latest preprint version Abstract The spatial pose accuracy of tool holders on a milling rotor directly affects the operational quality and service life of cold milling machines. Challenges in accurately positioning and installing these tool holders arise from the large size of the drum workpiece, limited direct measurability, and multi-parameter coupling in multi-robot systems. This study establishes an intelligent robotic welding system based on a milling rotor experimental platform, integrating key modules such as ground rail parallelism analysis, global coordinate system construction, laser-based feature fitting, vision-guided grasping, and dual-mode Hand-Eye calibration. A hybrid calibration approach combining Eye-in-Hand and Eye-to-Hand configurations enables high-precision acquisition and transformation of six-dimensional spatial pose information for both the rotor and the tool holders. To address the nonlinear coupling of pose errors, an Improved Particle Swarm Optimization–Support Vector Regression (IPSO-SVR) model is further proposed for grouped modeling and compensation of positional and angular deviations. Experimental results demonstrate that the proposed system architecture and calibration methods are reliable and effective, with the compensation model significantly enhancing pose accuracy and welding consistency. Industrial Robot Milling Rotor Multi-System Calibration Pose Compensation Full Text Cite Share Download PDF Status: Published Journal Publication published 16 Mar, 2026 Read the published version in The International Journal of Advanced Manufacturing Technology → Version 1 posted Reviewers agreed at journal 04 Nov, 2025 Reviewers invited by journal 04 Nov, 2025 Editor assigned by journal 03 Nov, 2025 First submitted to journal 30 Oct, 2025 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-7921511","acceptedTermsAndConditions":true,"allowDirectSubmit":false,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":539947291,"identity":"17c7bc0d-2e85-43b8-893a-3475a29a0d35","order_by":0,"name":"Kaixuan 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Challenges in accurately positioning and installing these tool holders arise from the large size of the drum workpiece, limited direct measurability, and multi-parameter coupling in multi-robot systems. This study establishes an intelligent robotic welding system based on a milling rotor experimental platform, integrating key modules such as ground rail parallelism analysis, global coordinate system construction, laser-based feature fitting, vision-guided grasping, and dual-mode Hand-Eye calibration. A hybrid calibration approach combining Eye-in-Hand and Eye-to-Hand configurations enables high-precision acquisition and transformation of six-dimensional spatial pose information for both the rotor and the tool holders. To address the nonlinear coupling of pose errors, an Improved Particle Swarm Optimization\u0026ndash;Support Vector Regression (IPSO-SVR) model is further proposed for grouped modeling and compensation of positional and angular deviations. Experimental results demonstrate that the proposed system architecture and calibration methods are reliable and effective, with the compensation model significantly enhancing pose accuracy and welding consistency.\u003c/p\u003e","manuscriptTitle":"Calibration and error compensation of the intelligent robot welding system for the milling rotor","msid":"","msnumber":"","nonDraftVersions":[{"code":1,"date":"2025-11-14 16:35:52","doi":"10.21203/rs.3.rs-7921511/v1","editorialEvents":[{"type":"communityComments","content":0},{"type":"reviewerAgreed","content":"","date":"2025-11-05T00:18:18+00:00","index":0,"fulltext":""},{"type":"reviewersInvited","content":"","date":"2025-11-04T16:17:07+00:00","index":"","fulltext":""},{"type":"editorAssigned","content":"","date":"2025-11-03T07:34:57+00:00","index":"","fulltext":""},{"type":"submitted","content":"The International Journal of Advanced Manufacturing Technology","date":"2025-10-30T22:31:10+00:00","index":"","fulltext":""}],"status":"published","journal":{"display":true,"email":"[email protected]","identity":"the-international-journal-of-advanced-manufacturing-technology","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":false,"externalIdentity":"jamt","sideBox":"Learn more about [The International Journal of Advanced Manufacturing Technology](https://www.springer.com/journal/170)","snPcode":"170","submissionUrl":"https://submission.nature.com/new-submission/170/3","title":"The International Journal of Advanced Manufacturing Technology","twitterHandle":"","acdcEnabled":true,"dfaEnabled":true,"editorialSystem":"em","reportingPortfolio":"Springer Hybrid","inReviewEnabled":true,"inReviewRevisionsEnabled":false}}],"origin":"","ownerIdentity":"f0a2cdce-33bb-4e9e-8cef-ce975679c9a1","owner":[],"postedDate":"November 14th, 2025","published":true,"recentEditorialEvents":[],"rejectedJournal":[],"revision":"","amendment":"","status":"published-in-journal","subjectAreas":[],"tags":[],"updatedAt":"2026-03-23T16:13:13+00:00","versionOfRecord":{"articleIdentity":"rs-7921511","link":"https://doi.org/10.1007/s00170-025-17365-y","journal":{"identity":"the-international-journal-of-advanced-manufacturing-technology","isVorOnly":false,"title":"The International Journal of Advanced Manufacturing Technology"},"publishedOn":"2026-03-16 15:58:08","publishedOnDateReadable":"March 16th, 2026"},"versionCreatedAt":"2025-11-14 16:35:52","video":"","vorDoi":"10.1007/s00170-025-17365-y","vorDoiUrl":"https://doi.org/10.1007/s00170-025-17365-y","workflowStages":[]},"version":"v1","identity":"rs-7921511","journalConfig":"researchsquare"},"__N_SSP":true},"page":"/article/[identity]/[[...version]]","query":{"redirect":"/article/rs-7921511","identity":"rs-7921511","version":["v1"]},"buildId":"8U1c8b4HqxoKbykW_rLl7","isFallback":false,"isExperimentalCompile":false,"dynamicIds":[84888],"gssp":true,"scriptLoader":[]}