Theoretical and practical aspects of robot calibration with experimental verification

Ginani, Luciano Selva; Motta, José Maurício Santos Torres da

doi:10.1590/s1678-58782011000100003

Cited by 51 publications

(26 citation statements)

References 8 publications

(13 reference statements)

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“…When the coordinate system is the Cartesian coordinate system, according to (3), the generalised position coordinates are

bold-italicr = false[r_{x}, r_{y}, r_{z} false]^{T} = false[t_{14}, t_{24}, t_{34} false]^{T}

Euler angle ( ψ , θ , ϕ ) is applied to describe the generalised orientation coordinates. Combined with (3), its expression is [12]

({, \begin{matrix} ψ_{1} = arctg \frac{- t_{13}}{t_{23}}, ψ_{2} = ψ_{1} + 180^{\circ} \\ θ = arctg \frac{t_{13} \sin ψ - t_{23} \cos ψ}{t_{33}} \\ φ = arctg \frac{false(- t_{12} \cos ψ - t_{22} \sin ψ false)}{false(t_{11} \cos ψ + t_{21} \sin ψ false)} \end{matrix})

There are many possible sources of errors in a robot [13], such as assembly error, manufacturing error, working temperature change and clearances at joints, resulting in parameter differential, Δ θ i , Δ d i , Δ a i− 1 and Δ α i− 1 . Those errors can be transmitted to the end‐effector.…”

Section: Position and Orientation Error Analysismentioning

confidence: 99%

Position and orientation error analysis and its compensation for a wheeled train uncoupling robot with four degrees‐of‐freedom

Yao

Gao

Jiang

et al. 2015

IET Intelligent Transport Systems

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“…When the coordinate system is the Cartesian coordinate system, according to (3), the generalised position coordinates are

bold-italicr = false[r_{x}, r_{y}, r_{z} false]^{T} = false[t_{14}, t_{24}, t_{34} false]^{T}

Euler angle ( ψ , θ , ϕ ) is applied to describe the generalised orientation coordinates. Combined with (3), its expression is [12]

({, \begin{matrix} ψ_{1} = arctg \frac{- t_{13}}{t_{23}}, ψ_{2} = ψ_{1} + 180^{\circ} \\ θ = arctg \frac{t_{13} \sin ψ - t_{23} \cos ψ}{t_{33}} \\ φ = arctg \frac{false(- t_{12} \cos ψ - t_{22} \sin ψ false)}{false(t_{11} \cos ψ + t_{21} \sin ψ false)} \end{matrix})

Section: Position and Orientation Error Analysismentioning

confidence: 99%

Position and orientation error analysis and its compensation for a wheeled train uncoupling robot with four degrees‐of‐freedom

Yao

Gao

Jiang

et al. 2015

IET Intelligent Transport Systems

View full text Add to dashboard Cite

“…Modular design methods have been implemented in the design of many Technical Editor: Dr. Fernando Antonio Forcellini. mechanical and electronic products, such as industrial steam turbines [3], automobiles [4], military combat ships [5], and industrial manufacturing robots [6]. The modular design theory and methods, as the core supporting technique for the design of complex mechatronic system, is still regarded as a research focus in product design for life cycle.…”

Section: Introductionmentioning

confidence: 99%

Determining optimal granularity level of modular product with hierarchical clustering and modularity assessment

Wang

Yin

2019

J Braz. Soc. Mech. Sci. Eng.

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Modular product architecture is beneficial for the product maintenance, upgrade, components' concurrent design through team work, and achieving the mass customization eventually. Recent researches tend to group elements into modules as a flat map, but this is inconsistent with the nested composition in product final assembly. Finding the hierarchical modular partition for elements of a product and obtaining its optimal granularity level are still necessary to ease the partition and combination for sub-design tasks. We use the design structure matrix (DSM) to represent the relationships among elements of a product. The hierarchical clustering functions such as pdist and linkage within MATLAB software are utilized to form the hierarchical dendrogram for DSM elements, and the modularity index Q is applied to assess the modular clustering results. The partitions are acquired by various distance threshold values in the vertical axis of the hierarchical dendrogram. The 'cityblock' and 'average' are found as preferred parameters for pdist and linkage functions, respectively, from loop test experiments. Combining the modularity formula in a research literature, a hierarchical modular architecture design methodology is proposed in this work to determine the optimal granularity level of a modular product and to provide solutions for designer selection. Case studies and comparisons in a benchmark problem and a concrete spraying machine illustrate the effectiveness and efficiency of the proposed method. It is characterized by being able to find stable modular partition results for both float and binary DSM elements and satisfying the recommended modular number rule simultaneously.

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“…Therefore, the end effectors deviate from the expected position to have position and pose error when the actual kinematic parameter has error. The accuracy of an industrial robot can be improved through calibration [10][11][12].…”

Section: Introductionmentioning

confidence: 99%

Study of Orientation Error on Robot End Effector and Volumetric Error of Articulated Robot

2019

Applied Sciences

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Robots are being used in many areas. The robot performance constraints are repeatability and accuracy. Standardized testing and evaluation techniques are needed to examine the process capability of a wide variety of robots. Robot calibration is a term applied to the procedure used in determining actual values which describe the geometric dimensions and mechanical characteristics of a robot. The robot accuracy evaluation method is introduced. The study proposed a technique to analyze robot’s orientation error by using the data measured during circle contouring movement of the articulated robot end effectors. New measuring method is proposed to measure orientation errors. Circle contouring measurements were also undertaken to assess the significance of multi-axis movements on the accuracy of the end effector. The paper describes the experimental and theoretical accuracy characteristics of an articulated robot. Also, the technique devised using a simulation program for the robot geometry, together with results from a circular test, enables robot errors to be characterized in terms of orientation error and volumetric error. Close correlation was obtained between the experimental and theoretical results. Also, robot pose error was shown a significant factor influencing the accuracy of the robot end effector. Proposed techniques are useful to set up the articulated robot in the industrial site.

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Theoretical and practical aspects of robot calibration with experimental verification

Abstract: One of the greatest challenges in today's industrial robotics is the development of off-line

Cited by 51 publications

References 8 publications

Position and orientation error analysis and its compensation for a wheeled train uncoupling robot with four degrees‐of‐freedom

Position and orientation error analysis and its compensation for a wheeled train uncoupling robot with four degrees‐of‐freedom

Determining optimal granularity level of modular product with hierarchical clustering and modularity assessment

Study of Orientation Error on Robot End Effector and Volumetric Error of Articulated Robot

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