An investigation of singularities in robot kinematic chains aiming at building robot calibration models for off-line programming

Abstract

Robot Calibration is a term applied to the procedures used in determining actual

Theoretical and practical aspects of robot calibration with experimental verification

“…(5). This issue is discussed in details in Motta (2005) and Schröer (1997). A possible convention for parallel axes is the Hayati-Mirmirani (1985) that cannot be used in perpendicular axes for the same reason.…”

“…There are many desirable characteristics for a kinematic model, but when considering kinematic models constructed aiming at using in robot calibration procedures three are mostly important: completeness, continuity and minimality (Motta, 2005;Albright, 1993). Completeness is the ability of a kinematic model to describe all possible spatial geometric joint configurations of a robot.…”

“…Figure 2 shows the above rules applied to the IRB-2000 robot with all the coordinate frames and geometric features. Using the previous two conventions (Denavit-Hartemberg and Hayati-Mirmirani) and taking into account the requirements of a kinematic model (completeness, continuity and minimality), the singularity-free approach discussed was applied for the assignment of coordinate frames and for the definition of which error parameters should be included in the kinematic model (Motta, 2005). Using this approach and the mechanical drawings of the IRB2000 (ABB, 1993), a kinematic model representing mathematically this robot was constructed.…”

“…The correct choice of the error parameters are of vital importance to the minimality and continuity of the kinematic model and, as discussed by Motta (2005), the error parameters are included in the model at links in such a way that there will be no redundancies. A discussion about the choice of those parameters and about strategies to analyze the conditioning of the resultant system is shown in Motta and McMaster (1999).…”

A Practical Calibration Method for Spray Painting Robot in Factory

“…Later, Elatta et al [3] replenished the contributions during the interval. However, level-1 [4] and level-2 [5], [6], [7], [8], [9], [10], [11] calibration methods were proved to be more popular in factory, owing to their excellent costefficiency. Level-3 calibration [12], [13], which enables the online fast trajectory tracking, yet, is rarely used due to the high cost of measuring.…”