A low-cost platform based on a robotic arm for parameters estimation of Inertial Measurement Units

Botero-Valencia, Juan S.; Márquez-Viloria, David; Castano-Londono, Luis; Morantes-Guzmán, Luis Javier

doi:10.1016/j.measurement.2017.07.002

Cited by 22 publications

(7 citation statements)

References 16 publications

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“…Contact approaches for industrial robot calibration [ 43 , 44 ] are usually lower-cost approaches for estimating more precise DH parameters of industrial robots. Motion sensors are another type of sensor which have already contributed to the precise calibration of industrial robots [ 45 , 46 ]. These types of sensors may perform orientation calibration with higher performance.…”

Section: Future Workmentioning

confidence: 99%

Precision Denavit–Hartenberg Parameter Calibration for Industrial Robots Using a Laser Tracker System and Intelligent Optimization Approaches

Khanesar

Yan

Isa

et al. 2023

Sensors

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Precision object handling and manipulation require the accurate positioning of industrial robots. A common practice for performing end effector positioning is to read joint angles and use industrial robot forward kinematics (FKs). However, industrial robot FKs rely on the robot Denavit–Hartenberg (DH) parameter values, which include uncertainties. Sources of uncertainty associated with industrial robot FKs include mechanical wear, manufacturing and assembly tolerances, and robot calibration errors. It is therefore necessary to increase the accuracy of DH parameter values to reduce the impact of uncertainties on industrial robot FKs. In this paper, we use differential evolution, particle swarm optimization, an artificial bee colony, and a gravitational search algorithm to calibrate industrial robot DH parameters. A laser tracker system, Leica AT960-MR, is utilized to register accurate positional measurements. The nominal accuracy of this non-contact metrology equipment is less than 3 μm/m. Metaheuristic optimization approaches such as differential evolution, particle swarm optimization, an artificial bee colony and a gravitational search algorithm are used as optimization methods to perform the calibration using laser tracker position data. It is observed that, using the proposed approach with an artificial bee colony optimization algorithm, the accuracy of industrial robot FKs in terms of mean absolute errors of static and near-static motion over all three dimensions for the test data decreases from its measured value of 75.4 μm to 60.1 μm (a 20.3% improvement).

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Section: Future Workmentioning

confidence: 99%

Precision Denavit–Hartenberg Parameter Calibration for Industrial Robots Using a Laser Tracker System and Intelligent Optimization Approaches

Khanesar

Yan

Isa

et al. 2023

Sensors

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“…Similarly, in ref. [29], the authors present an open source, low cost robot for calibration of IMUs. In ref.…”

Section: Related Work On Robot/imu Calibrationmentioning

confidence: 99%

Unified robot and inertial sensor self-calibration

Ferguson

Ertop²,

Herrell³

et al. 2023

Robotica

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Robots and inertial measurement units (IMUs) are typically calibrated independently. IMUs are placed in purpose-built, expensive automated test rigs. Robot poses are typically measured using highly accurate (and thus expensive) tracking systems. In this paper, we present a quick, easy, and inexpensive new approach to calibrate both simultaneously, simply by attaching the IMU anywhere on the robot’s end-effector and moving the robot continuously through space. Our approach provides a fast and inexpensive alternative to both robot and IMU calibration, without any external measurement systems. We accomplish this using continuous-time batch estimation, providing statistically optimal solutions. Under Gaussian assumptions, we show that this becomes a nonlinear least-squares problem and analyze the structure of the associated Jacobian. Our methods are validated both numerically and experimentally and compared to standard individual robot and IMU calibration methods.

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“…The traditional method for measuring the roll angle of HSFC can be divided into two steps. Firstly, by calibrating the calibration parameters and error compensation model of the measuring elements, the output reliability of the measuring elements can be improved in the literature [14][15][16][17][18]. Secondly, * Author to whom any correspondence should be addressed.…”

Section: Introductionmentioning

confidence: 99%

A novel method for measuring roll angle

Zhang,

Gao,

Wang

et al. 2024

Meas. Sci. Technol.

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The precise measurement of the spin speed of a high-speed autonomous unmanned aerial vehicle (HAS-UAV) is a key element in mastering flight stability, and the measurement of roll angle is the key to determining the accuracy of navigation control systems. We put forward a novel method for measuring roll angle. This method starts from the time-frequency domain analysis (TFDA) of the output signal of the geomagnetic sensor, extracts the time-frequency ridge of the time-frequency matrix (TFM) to obtain the spin speed of the HSA-UAV, and reconstructs the output signal of the geomagnetic sensor. It can calculate the roll angle when the calibration parameters of the geomagnetic sensor are unknown and have good engineering practical value. In addition, we also propose an improved nonlinear short-time Fourier transform (INLSTFT) with high-frequency resolution and a forward penalty dynamic path ridge-extraction method (FPDPRM) with frequency jump suppression to extract instantaneous frequency (IF) in the TFM.

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A low-cost platform based on a robotic arm for parameters estimation of Inertial Measurement Units

Cited by 22 publications

References 16 publications

Precision Denavit–Hartenberg Parameter Calibration for Industrial Robots Using a Laser Tracker System and Intelligent Optimization Approaches

Precision Denavit–Hartenberg Parameter Calibration for Industrial Robots Using a Laser Tracker System and Intelligent Optimization Approaches

Unified robot and inertial sensor self-calibration

A novel method for measuring roll angle

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