A Method for Determining and Correcting Robot Position and Orientation Errors Due to Manufacturing

Abstract

A method is presented for calibration of a robot to correct position and orientation errors due to manufacturing. The method is based on the shape matrix robot kinematic description. Each joint is individually and successively moved in order to explicitly calculate the shape matrix of each link. In addition, methods to correct for the errors in both the forward and inverse kinematic solutions are presented. The modification of the forward solution is a simple task. The modification of the inverse kinematic solution is a difficult problem and is achieved by an iterative technique which supplements the closed-form solution. An example of the calibration and inverse solution is presented to show the improvement in the accuracy of the robot.

A simple method of accuracy enhancement for industrial manipulators

“…Many researchers have addressed the various issues of calibration concerning models for parameter errors [2][3][4][5], means of measurement [6][7][8], and algorithms for parameter identification, as well as for error compensation [9][10][11][12]. As evidenced by the existence of an abundance of literature (see [1] for a good review), the calibration technique seems to have been largely accepted by researchers as a feasible solution to the robot accuracy problem but to have been demonstrated to be such primarily in laboratories.…”

A systematic approach to identify the error motion of anN-degree of freedom manipulator

“…The potential problem with this method arises in solving the kinematic equations. Broderick and Cipra [16] developed a calibration method using the concept of shape matrices. However, their technique accounts only for the errors in the fixed kinematic parameters, which excludes joint variable errors.…”

Inertial measurement unit–based iterative pose compensation algorithm for low-cost modular manipulator

“…Although the result of this kind of error compensation is good, its biggest disadvantage is that it highly raised the cost of the robot. Broderick and Cipra 19 proposed a method based on the shape matrix robot kinematic description to correct position and orientation errors. They analyzed every pose matrix of manipulator and explicitly calculate the shape matrix of each link.…”