Absolute Positioning Accuracy Improvement in an Industrial Robot

Jiang, Yizhou; Yu, Liandong; Jia, Huakun; Hu, Zhao; Xia, Haojie

doi:10.3390/s20164354

Cited by 44 publications

(18 citation statements)

References 27 publications

(36 reference statements)

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“…Supplementary Table S2 lists the Denavit-Hartenberg (D-H) parameters for the kinematic modeling of diving beetles 21 , 35 , 36 , in which i represents either joint 1, joint 2, joint 3, or joint 4 in Supplementary Fig. S3 .…”

Section: Resultsmentioning

confidence: 99%

Observation and analysis of diving beetle movements while swimming

Zhang

et al. 2021

Sci Rep

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The fast swimming speed, flexible cornering, and high propulsion efficiency of diving beetles are primarily achieved by their two powerful hind legs. Unlike other aquatic organisms, such as turtle, jellyfish, fish and frog et al., the diving beetle could complete retreating motion without turning around, and the turning radius is small for this kind of propulsion mode. However, most bionic vehicles have not contained these advantages, the study about this propulsion method is useful for the design of bionic robots. In this paper, the swimming videos of the diving beetle, including forwarding, turning and retreating, were captured by two synchronized high-speed cameras, and were analyzed via SIMI Motion. The analysis results revealed that the swimming speed initially increased quickly to a maximum at 60% of the power stroke, and then decreased. During the power stroke, the diving beetle stretched its tibias and tarsi, the bristles on both sides of which were shaped like paddles, to maximize the cross-sectional areas against the water to achieve the maximum thrust. During the recovery stroke, the diving beetle rotated its tarsi and folded the bristles to minimize the cross-sectional areas to reduce the drag force. For one turning motion (turn right about 90 degrees), it takes only one motion cycle for the diving beetle to complete it. During the retreating motion, the average acceleration was close to 9.8 m/s2 in the first 25 ms. Finally, based on the diving beetle's hind-leg movement pattern, a kinematic model was constructed, and according to this model and the motion data of the joint angles, the motion trajectories of the hind legs were obtained by using MATLAB. Since the advantages of this propulsion method, it may become a new bionic propulsion method, and the motion data and kinematic model of the hind legs will be helpful in the design of bionic underwater unmanned vehicles.

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Section: Resultsmentioning

confidence: 99%

Observation and analysis of diving beetle movements while swimming

Zhang

et al. 2021

Sci Rep

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“…Most calibration methods compare the taught point positions of a robot with measurements relating the end-effector to an external 3D measuring device such as a laser tracker [ 21 , 22 , 23 , 24 , 25 , 26 ], theodolite measurement devices [ 27 ] or coordinate measuring machines (CMM) [ 28 , 29 ]. These are known as open-loop calibration techniques [ 30 ].…”

Section: Existing Methodologies For Kinematic Calibrationmentioning

confidence: 99%

Fast Kinematic Re-Calibration for Industrial Robot Arms

Kana

Gurnani

Ramanathan

et al. 2022

Sensors

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Accurate kinematic modelling is pivotal in the safe and reliable execution of both contact and non-contact robotic applications. The kinematic models provided by robot manufacturers are valid only under ideal conditions and it is necessary to account for the manufacturing errors, particularly the joint offsets introduced during the assembling stages, which is identified as the underlying problem for position inaccuracy in more than 90% of the situations. This work was motivated by a very practical need, namely the discrepancy in terms of end-effector kinematics as computed by factory-calibrated internal controller and the nominal kinematic model as per robot datasheet. Even though the problem of robot calibration is not new, the focus is generally on the deployment of external measurement devices (for open loop calibration) or mechanical fixtures (for closed loop calibration). On the other hand, we use the factory-calibrated controller as an ‘oracle’ for our fast-recalibration approach. This allows extracting calibrated intrinsic parameters (e.g., link lengths) otherwise not directly available from the ‘oracle’, for use in ad-hoc control strategies. In this process, we minimize the kinematic mismatch between the ideal and the factory-calibrated robot models for a Kinova Gen3 ultra-lightweight robot by compensating for the joint zero position error and the possible variations in the link lengths. Experimental analysis has been presented to validate the proposed method, followed by the error comparison between the calibrated and un-calibrated models over training and test sets.

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“…However, this order of absolute positioning accuracy limits industrial robots in relatively high-precision applications, such as measurement, milling, grinding, etc. The absolute positioning accuracy for an industrial robot is determined not only by its quality of components, manufacture, and assembly but by its mechanical degradation, which is mainly affected by the deformation of linkages, collision, temperature change, and other factors in practice [ 7 , 8 , 9 , 10 ]. Kinematic calibration is the major method to improve the absolute positioning accuracy of industrial robots, which includes four steps: establishing a kinematic model, measuring the end position of the robot, identifying the parameters of the kinematic model using the measured data, and compensating in the motion controller with the identified parameters to improve the absolute positioning accuracy of the robot [ 11 ].…”

Section: Introductionmentioning

confidence: 99%

Modeling and Parameter Identification of a 3D Measurement System Based on Redundant Laser Range Sensors for Industrial Robots

Gao

Kuang

Liu

et al. 2023

Sensors

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The low absolute positioning accuracy of industrial robots is one of the bottlenecks preventing industrial robots from precision applications. Kinematic calibration is the main way to improve the absolute positioning accuracy of industrial robots, which greatly relies on three-dimensional (3D) measurement instruments, including laser trackers and pull rope mechanisms. These instruments are costly, and their required intervisibility space is large. In this paper, a precision 3D measurement instrument integrating multiple laser range sensors is designed, which fuses the information of multiple redundant laser range sensors to obtain the coordinates of a 3D position. An identification model of laser beam position and orientation parameters based on redundant distance information and standard spherical constraint is then developed to reduce the requirement for the assembly accuracy of laser range sensors. A hybrid identification algorithm of PSO-LM (particle swarm optimization Levenberg Marquardt) is designed to solve the high-order nonlinear problem of the identification model, where PSO is used for initial value identification, and LM is used for final value identification. Experiments of identification of position and orientation, verifications of the measuring accuracy, and the calibration of industrial robots are conducted, which show the effectiveness of the proposed 3D measurement instrument and identification methods. Moreover, the proposed instrument is small in size and can be used in narrow industrial sites.

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Absolute Positioning Accuracy Improvement in an Industrial Robot

Cited by 44 publications

References 27 publications

Observation and analysis of diving beetle movements while swimming

Observation and analysis of diving beetle movements while swimming

Fast Kinematic Re-Calibration for Industrial Robot Arms

Modeling and Parameter Identification of a 3D Measurement System Based on Redundant Laser Range Sensors for Industrial Robots

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