Accuracy enhancement of industrial robots by on-line pose correction

Gharaaty, Sepehr; Shu, Tingting; Xie, Wenfang; Joubair, Ahmed; Bonev, Ilian A.

doi:10.1109/acirs.2017.7986096

Cited by 15 publications

(6 citation statements)

References 14 publications

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“…Experimental analyses prove that using RMS value of 10 measurements from a stationary reference model can improve the measurements up to 75%. 25 It is noted that a reference model represents a reference frame associated with a set of targets measured by the C-Track. Figure 3 shows 100 measurements taken by the C-Track of the robot end-effector position in a fixed configuration where the vibrations of the robot and the C-Track are negligible.…”

Section: C-track Data Analysismentioning

confidence: 99%

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Online pose correction of an industrial robot using an optical coordinate measure machine system

Gharaaty

Shu

Joubair

et al. 2018

International Journal of Advanced Robotic Systems

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In this article, a dynamic pose correction scheme is proposed to enhance the pose accuracy of industrial robots. The dynamic pose correction scheme uses the dynamic pose measurements as feedback to accurately guide the robot end-effector to the desired pose. The pose is measured online with an optical coordinate measure machine, that is, C-Track 780 from Creaform. A root mean square method is proposed to filter the noise from the pose measurements. The dynamic pose correction scheme adopts proportional-integral-derivaitve controller and generates commands to the FANUC robot controller. The developed dynamic pose correction scheme has been tested on two industrial robots, FANUC LR Mate 200iC and FANUC M20iA. The experimental results on both robots demonstrate that the robots can reach the desired pose with an accuracy of +0:050 mm for position and +0:050 for orientation. As a result, the developed pose correction can make the industrial robots meet higher accuracy requirement in the applications such as riveting, drilling, and spot welding.

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Section: C-track Data Analysismentioning

confidence: 99%

“…All of these prerequisites and requirements are considered and evaluated in the developed software through a function which initializes the DPM variables according to the user input and sets the offset commands. 25 The flowchart of this implementation is shown in Figure 11.…”

Section: Dynamic Closed-loop Pose Correctionmentioning

confidence: 99%

Online pose correction of an industrial robot using an optical coordinate measure machine system

Gharaaty

Shu

Joubair

et al. 2018

International Journal of Advanced Robotic Systems

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“…First, the conformal CIV is specific to sample geometry, requiring knowledge of the sample geometries' local coordinates relative to the robotic arm's reference frames. Second, despite the high precision of the six-axis robotic arm, its accuracy is relatively limited [10][11][12][13][14] , especially compared with the resolution of OCT. This discrepancy poses significant challenges in reconstructing CIVs by montaging multiple OCT volumetric images with an axial resolution of 2-5 μm.…”

Section: Introductionmentioning

confidence: 99%

Freeform robotic optical coherence tomography beyond the optical field-of-view limit

Fang,

Zhang,

Zhang

et al. 2024

Preprint

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Imaging complex, non-planar anatomies with optical coherence tomography (OCT) is limited by the optical field of view (FOV) in a single volumetric acquisition. Combining linear mechanical translation with OCT extends the FOV but suffers from inflexibility in imaging non-planar anatomies. We report the freeform robotic OCT to fill this gap. To address challenges in volumetric reconstruction associated with the robotic movement accuracy being two orders of magnitudes worse than OCT imaging resolution, we developed a volumetric registration algorithm based on simultaneous localization and mapping (SLAM) to overcome this limitation. We imaged the entire aqueous humor outflow pathway, whose imaging has the potential to customize glaucoma surgeries but is typically constrained by the FOV, circumferentially in mice as a test. We acquired volumetric OCT data at different robotic poses and reconstructed the entire anterior segment of the eye. The reconstructed volumes showed heterogeneous Schlemm's canal (SC) morphology in the reconstructed anterior segment and revealed a segmental nature in the circumferential distribution of collector channels (CC) with spatial features as small as a few micrometers.

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“…KRL (KUKA), Inform (Yaskawa), RAPID (ABB), Karel (FANUC), AS (Kawasaki) and URScript (Universal Robots) are different robot languages in use by distinct manufacturers. A separate communication interface platform is to be developed for read–write purpose of controlled variables and data structures of these commercial robots (Sanfilippo et al , 2015; Gharaaty et al , 2017). The higher level functionality of the system can be built on another platform called robot operating system, which defines rules for how the pieces of a robot control system are configured, started, communicated, packaged, etc.…”

Section: Introductionmentioning

confidence: 99%

Interfacing an industrial robot and MATLAB for predictive visual servoing

Krishnan

Vijayan

Ashok

2020

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Purpose Real-time implementation of sophisticated algorithms on robotic systems demands a rewarding interface between hardware and software components. Individual robot manufacturers have dedicated controllers and languages. However, robot operation would require either the knowledge of additional software or expensive add-on installations for effective communication between the robot controller and the computation software. This paper aims to present a novel method of interfacing the commercial robot controllers with most widely used simulation platform, e.g. MATLAB in real-time with a demonstration of visual predictive controller. Design/methodology/approach A remote personal computer (PC), running MATLAB, is connected with the IRC5 controller of an ABB robotic arm through the File Transfer Protocol (FTP). FTP server on the IRC5 responds to a request from an FTP client (MATLAB) on a remote computer. MATLAB provides the basic platform for programming and control algorithm development. The controlled output is transferred to the robot controller through Ethernet port as files and, thereby, the proposed scheme ensures connection and control of the robot using the control algorithms developed by the researchers without the additional cost of buying add-on packages or mastering vendor-specific programming languages. Findings New control strategies and contrivances can be developed with numerous conditions and constraints in simulation platforms. When the results are to be implemented in real-time systems, the proposed method helps to establish a simple, fast and cost-effective communication with commercial robot controllers for validating the real-time performance of the developed control algorithm. Practical implications The proposed method is used for real-time implementation of visual servo control with predictive controller, for accurate pick-and-place application with different initial conditions. The same strategy has been proven effective in supervisory control using two cameras and artificial neural network-based visual control of robotic manipulators. Originality/value This paper elaborates a real-time example using visual servoing for researchers working with industrial robots, enabling them to understand and explore the possibilities of robot communication.

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Accuracy enhancement of industrial robots by on-line pose correction

Cited by 15 publications

References 14 publications

Online pose correction of an industrial robot using an optical coordinate measure machine system

Online pose correction of an industrial robot using an optical coordinate measure machine system

Freeform robotic optical coherence tomography beyond the optical field-of-view limit

Interfacing an industrial robot and MATLAB for predictive visual servoing

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