A Calibration Method for Laser Guided Robotic Manipulation for Industrial Automation

Khawli, Toufik Al; Anwar, Muddasar; Sunda-Meya, Anderson; Islam, Shafiqul

doi:10.1109/iecon.2018.8592712

Cited by 12 publications

(8 citation statements)

References 13 publications

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“…The experiment is better when the steering angle is predetermined, so the shape is closer to the circle. As per the laser sensor results, it is possible to check the part where the shape of the circle is distorted due to many errors in the coordinate conversion process to the target rotation center axis of the robot [5,21]. On the other hand, the proposed method's result can conf rm the shape similar to the circle.…”

Section: Experimentation and Resultsmentioning

confidence: 94%

“…The position measured through laser navigation is N. In general, forklift LGV robot controls based on the target rotation center axis [12]. So the position measured in the laser navigation is converted to the target rotation center axis using (5). In (5), POS is the LGV position measured in the laser navigation, where the POS is converted to the target rotation center axis.…”

Section: Kinematics Model Impact On the Robotmentioning

confidence: 99%

“…So the position measured in the laser navigation is converted to the target rotation center axis using (5). In (5), POS is the LGV position measured in the laser navigation, where the POS is converted to the target rotation center axis.…”

Section: Kinematics Model Impact On the Robotmentioning

confidence: 99%

“…There are ref ector matching problems such as laser navigation, the measurement error problem during rotation, and high-speed driving, which could not be solved. So, for minimizing the problem, the improved positioning accuracy technique has been used [5,6]. In this paper, we propose a method to improve the accuracy of position measurement using particle f lters with strengths in a non-Gaussian system.…”

Section: Introductionmentioning

confidence: 99%

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An Improved Positioning Accuracy Method of a Robot Based on Particle Filter

Ali

Hakro

et al. 2021

Proceedings of International Conference on Advanced Computing Applications

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This paper aims to improve the performance and positioning accuracy of a robot by using the particle f lter method. The laser range information is a wireless navigation system mainly used to measure, position, and control autonomous robots. Its localization is more f exible to control than wired guidance systems. However, the navigation through the laser range f nder occurs with a large positioning error while it moves or turns fast. For solving this problem, the paper proposes a method to improve the positioning accuracy of a robot in an indoor environment by using a particle f lter with robust characteristics in a nonlinear or non-Gaussian system. In this experiment, a robot is equipped with a laser range f nder, two encoders, and a gyro for navigation to verify the positioning accuracy and performance. The positioning accuracy and performance could improve by approximately 85.5% in this proposed method.

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Section: Experimentation and Resultsmentioning

confidence: 94%

Section: Kinematics Model Impact On the Robotmentioning

confidence: 99%

Section: Kinematics Model Impact On the Robotmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

An Improved Positioning Accuracy Method of a Robot Based on Particle Filter

Ali

Hakro

et al. 2021

Proceedings of International Conference on Advanced Computing Applications

View full text Add to dashboard Cite

show abstract

“…1, in a block flow diagram. The methodology is to comply with the requirements of industrial processes that demand high accuracy, such as the aerospace or automotive industry [28]. Fig.…”

Section: Introductionmentioning

confidence: 99%

A Methodology for Industrial Robot Calibration Based on Measurement Sub-Regions

Toquica

Motta

2021

Preprint

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This paper proposes a methodology for calibration of industrial robots that uses a concept of measurement sub-regions, allowing low-cost solutions and easy implementation to meet the robot accuracy requirements in industrial applications. The solutions to increasing the accuracy of robots today have high-cost implementation, making calibration throughout the workplace in industry a difficult and unlikely task. Thus, reducing the time spent and the measured workspace volume of the robot end-effector are the main benefits of the implementation of the sub-region concept, ensuring sufficient flexibility in the measurement step of robot calibration procedures. The main contribution of this article is the proposal and discussion of a methodology to calibrate robots using several small measurement sub-regions and gathering the measurement data in a way equivalent to the measurements made in large volume regions, making feasible the use of high-precision measurement systems but limited to small volumes, such as vision-based measurement systems. The robot calibration procedures were simulated according to the literature, such that results from simulation are free from errors due to experimental setups as to isolate the benefits of the measurement proposal methodology. In addition, a method to validate the analytical off-line kinematic model of industrial robots is proposed using the nominal model of the robot supplier incorporated into its controller.

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A methodology for industrial robot calibration based on measurement sub-regions

Toquica

Motta

2021

Int J Adv Manuf Technol

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A Calibration Method for Laser Guided Robotic Manipulation for Industrial Automation

Cited by 12 publications

References 13 publications

An Improved Positioning Accuracy Method of a Robot Based on Particle Filter

An Improved Positioning Accuracy Method of a Robot Based on Particle Filter

A Methodology for Industrial Robot Calibration Based on Measurement Sub-Regions

A methodology for industrial robot calibration based on measurement sub-regions

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