Accuracy and Calibration Issues of Industrial Manipulators

Abderrahim, Mohamed; Khamis, Alla; Garrido, Santiago; Moreno, Lourdes

doi:10.5772/4895

Cited by 38 publications

(29 citation statements)

References 18 publications

(30 reference statements)

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“…The test stand was composed of the following elements: − a Mitsubishi RV2AJ robot, − 2 digital SLR cameras: Canon EOS 5D Mark II, 21. 1 Megapixel, equipped with Canon EF 24-70 mm f/2.8L II USM lenses, − 2 halogen lamp (500 W each), − an analyzed object: a cube with stuck markers. Figure 2 presents the mutual position and orientation of the components of the test stand.…”

Section: Procedures Of Testingmentioning

confidence: 99%

“…Currently, two types of such the measurement systems are used in engineering practice [1]. These are either laser trackers or vision systems.…”

Section: Introductionmentioning

confidence: 99%

“…The measurement of the end-effector pose is directly used by robots' manufacturers in manufacturing quality control procedures. The robots' users the most often carry out the measurement of position to determine the positioning repeatability [7] of the robot or to perform the external calibration of the robots [1]. The positioning repeatability is the most important precision type parameter of the manipulating robots.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

A Low-Cost Vision System in Determination of a Robot End-Effector's Positions

Lisowski

Kohut

2017

PAR

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Section: Procedures Of Testingmentioning

confidence: 99%

“…Currently, two types of such the measurement systems are used in engineering practice [1]. These are either laser trackers or vision systems.…”

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

A Low-Cost Vision System in Determination of a Robot End-Effector's Positions

Lisowski

Kohut

2017

PAR

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“…In industrial practice, robots perform movements with certain accuracy, which is variable during operation generating errors interfering of accuracy [4]. In the work [5] geometric and non-geometric errors are distinguished. Work [6] defines errors affecting the accuracy of a robot, dividing it into three basic groups: dynamic, structural, and kinematic.…”

Section: Introductionmentioning

confidence: 99%

Uncertainty measurement with the kinematic telescopic bar during industrial robot inaccuracy tests

2017

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Abstract. The subject of this article is the assessment of measurement uncertainty with the kinematic telescopic bar QC20-W in the accuracy test of MOTOMAN HP20 industrial robot. The measurements were performed to determine the statistical uncertainty of error measurement using the system applied. Analysed in tests was the robot's ability to recreate a circular outline through standard, complex and extended measurement of uncertainty measurement. The obtained results were served to perform rapid evaluation of robot inaccuracy. These uncertainties were based on the information included in the device calibration certificate (estimated with method B) but also on the basis of measurements and statistical data (estimated with method A). These components of the uncertainty budget take relatively small values (u c = 0.818 ÷ 4.130; U = 1.636 ÷ 8.260 for k = 2, which proves that a properly selected method was applied to the research task. The method of research and calculation precisely identified key uncertainties allowing for an objective assessment of the industrial robot errors carried out with Renishaw the kinematic telescopic bar.

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“…Other methods for identification of positioning accuracy and repeatability errors employ e.g. 3D scanners [3] or multi-camera vision systems [1]. An example of such analysis is presented by authors of work [9].…”

Section: Introductionmentioning

confidence: 99%

Industrial Robot Repeatability Testing With High Speed Camera Phantom V2511

Jóźwik¹,

Ostrowski²,

Jarosz³

et al. 2016

Adv. Sci. Technol. Res. J.

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Apart from accuracy, one of the parameters describing industrial robots is positioning accuracy. The parameter in question, which is the subject of this paper, is often the decisive factor determining whether to apply a given robot to perform certain tasks or not. Articulated robots are predominantly used in such processes as: spot welding, transport of materials and other welding applications, where high positioning repeatability is required. It is therefore essential to recognise the parameter in question and to control it throughout the operation of the robot. This paper presents methodology for robot positioning accuracy measurements based on vision technique. The measurements were conducted with Phantom v2511 high-speed camera and TEMA Motion software, for motion analysis. The object of the measurements was a 6-axis Yaskawa Motoman HP20F industrial robot. The results of measurements obtained in tests provided data for the calculation of positioning accuracy of the robot, which was then juxtaposed against robot specifications. Also analysed was the impact of the direction of displacement on the value of attained pose errors. Test results are given in a graphic form.

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Accuracy and Calibration Issues of Industrial Manipulators

Cited by 38 publications

References 18 publications

A Low-Cost Vision System in Determination of a Robot End-Effector's Positions

A Low-Cost Vision System in Determination of a Robot End-Effector's Positions

Uncertainty measurement with the kinematic telescopic bar during industrial robot inaccuracy tests

Industrial Robot Repeatability Testing With High Speed Camera Phantom V2511

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