A geometrical approach for online error compensation of industrial manipulators

Mustafa, Shabbir Kurbanhusen; Tao, Pey Yuen; Yang, Guilin; Chen, I‐Ming

doi:10.1109/aim.2010.5695784

Cited by 32 publications

(15 citation statements)

References 11 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…As such, kinematic calibration without considering joint compliance performed on robots that have been compensated will yield much better results that those given in this simulations as noted by previous work in [6] and especially if the endeffector poses used in the calibration process is constrained to a small region within the robot task space. VI.…”

Section: Simulation Verificationmentioning

confidence: 54%

“…Ad T0,p i ∂p i + Ad T0,q iŝ i ∂q i +Ad T0,p n+1 ∂p n+1 (6) where ∂T 0,n+1 T −1 0,n+1 ∈ se(3) represents the gross kinematic errors of a complete robot with respect to the measurement frame {K 0 }, Ad T denotes the adjoint representation of T , and…”

Section: Calibration Processmentioning

confidence: 99%

“…In previous works, a robot kinematic calibration method based on the local frame representation of the product-of-exponentials (Local POE) formula has been proposed [5] and verified on an industrial manipulator where an online compensation system is developed to apply the calibration results [6]. In the previous works, the focus is on compensating for the geometric errors present in each robot manipulator while non-geometric errors are ignored.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Product-of-exponential (POE) model for kinematic calibration of robots with joint compliance

Tao

Yang

Sun

et al. 2012

2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

View full text Add to dashboard Cite

In this paper, a robot calibration method is proposed where the effects of joint compliance is taken into account when formulating the model. The calibration process identifies the parameters describing the relative poses of the local frames attached to the links of the robot and the parameters determining joint deflections such as joint stiffness, the mass and center of gravity of each link. A kinematic model of the robot which considers the effects of joint compliance is first formulated using the product-of-exponentials approach. Subsequently, the calibration process is described where the parameters within the robot model are updated based on measurement data. Finally, a comprehensive simulation study is conducted to validate the assumptions made during problem formulation and to verify the effectiveness of the proposed approach.

show abstract

Section: Simulation Verificationmentioning

confidence: 54%

Section: Calibration Processmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Product-of-exponential (POE) model for kinematic calibration of robots with joint compliance

Tao

Yang

Sun

et al. 2012

2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

View full text Add to dashboard Cite

show abstract

“…Especially during contact tasks, forces add on the load of the gears and cause additional deflection. Link and joint compliance, causing the deflection of the links and finally the end-effector, contribute up to 8-10% of the position and orientation errors of the end-effector (Mustafa et al, 2010).…”

Section: Robot Positional Errormentioning

confidence: 99%

“…Within the mechanical robot structure two categories of errors can be distinguished: geometrical errors and non-geometrical errors (Mustafa, Tao, Yang, & Chen, 2010). The former encompasses all the deviation due to imperfect geometries, mating or assembly errors.…”

Section: Robot Positional Errormentioning

confidence: 99%