A svd-least-square algorithm for manipulator kinematic calibration based on the product of exponentials formula

Toan, Nguyen Van; Khôi, Phan Bùi

doi:10.1007/s12206-018-1038-3

Cited by 8 publications

(2 citation statements)

References 23 publications

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“…Position deviations were added to each robot position coordinate to generate the robot measured positions to be used in the calibration procedures, simulating measurement errors. They were calculated with random numbers generated with a Gaussian distribution with non-zero mean and a standard deviation in a range of 0.01 to 0.1 (mm or degrees) [17,23,[45][46][47].…”

Section: Kinematic Error Parametersmentioning

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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Section: Kinematic Error Parametersmentioning

confidence: 99%

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

Toquica

Motta

2021

Preprint

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“…The kinematic model for the manipulator is obtained using the Denavit-Hartenberg (DH) modelling technique. It has been showcased in this paper that getting the inverse kinematic solutions for PMs using the analytical approach is a cumbersome task (Van Toan and Khoi, 2018). In addition, the analytical approach may also lead to multiple solutions while solving for the inverse kinematics in robotic manipulators (Hernandez, 2008).…”

Section: Introductionmentioning

confidence: 99%

Comparative study of various machine learning algorithms and Denavit–Hartenberg approach for the inverse kinematic solutions in a 3-PPSS parallel manipulator

Thomas

Sanjeev

Sudheer

et al. 2020

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Purpose This paper aims to use different machine learning (ML) algorithms for the prediction of inverse kinematic solutions in parallel manipulators (PMs) to overcome the computational difficulties and approximations involved with the analytical methods. The results obtained from the ML algorithms and the Denavit–Hartenberg (DH) approach are compared with the experimental results to evaluate their performances. The study is performed on a novel 6-degree of freedom (DoF) PM that offers precise motions with a large workspace for the end effector. Design/methodology/approach The kinematic model for the proposed 3-PPSS PM is obtained using the modified DH approach and its inverse kinematic solutions are determined using the Levenberg–Marquardt algorithm. Various prediction algorithms such as the multiple linear regression, multi-variate polynomial regression, support vector, decision tree, random forest regression and multi-layer perceptron networks are applied to predict the inverse kinematic solutions for the manipulator. The data set required to train the network is generated experimentally by recording the poses of the end effector for different instantaneous positions of the slider using the concept of ArUco markers. Findings This paper fully demonstrates the possibility to use artificial intelligence for the prediction of inverse kinematic solutions especially for complex geometries. Originality/value As the analytical models derived from the geometrical method, Screw theory or numerical techniques involve approximations and needs more computational power, it is not advisable for real-time control of the manipulator. In addition, the data set obtained from the derived inverse kinematic equations to train the network may lead to inaccuracies in the predicted results. This error may generate significant deviations in the end-effector position from the desired position. The present work attempts to resolve this issue by proposing a camera-based approach that uses ArUco library and ML algorithms to create the data set experimentally and predict the inverse kinematic solutions accurately.

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An overview of hand-eye calibration

Jiang

Luo

et al. 2021

Int J Adv Manuf Technol

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Due to the increase in the difficulty and diversity of tasks performed by robots, robot "hand-eye" collaborative operation has attracted widespread attention. This technology is widely used in aerospace, medical, automotive, and industrial fields. Recently, hand-eye calibration technology is developing towards high precision and high intelligence. However, it has much work to be done in terms of identifying robot and camera parameters. This article introduces in detail the methods and theories involved in hand-eye calibration. According to the structure of the algorithm and the type of the optimization method, this paper summarizes the hand-eye calibration method into four steps: camera pose, mechanical claw pose, mathematical model, and error metrics. The well-known open problems about hand-eye calibration are finally stated, and some new research interests are also pointed out. The results of this review are useful for robot technicians to choose the correct parameter identification method and for researchers to determine further research areas.

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A svd-least-square algorithm for manipulator kinematic calibration based on the product of exponentials formula

Cited by 8 publications

References 23 publications

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

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

Comparative study of various machine learning algorithms and Denavit–Hartenberg approach for the inverse kinematic solutions in a 3-PPSS parallel manipulator

An overview of hand-eye calibration

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