Application-oriented selection of poses and forces for robot elastostatic calibration

Kalas, Vinayak Jagannathrao; Vissiere, Alain; Krut, Sébastien; Noiré, Pierre; Roux, Thierry; Pierrot, François

doi:10.1016/j.mechmachtheory.2020.104176

Cited by 8 publications

(3 citation statements)

References 10 publications

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“…is puts forward the requirements for calibrating the robot arm for intelligent replacement of the side bushing of the UHV converter valve and improving its absolute positioning accuracy and repeated positioning accuracy. In reference [22], the concept of robot elastic calibration is put forward, which is helpful to realize high-precision positioning under high load, which indirectly shows the importance of repeated positioning accuracy of high-load manipulator.…”

Section: Literature Reviewmentioning

confidence: 99%

Parameter Calibration on Replacement Manipulator for UHV Valve-Side Bushing Based on Spinor Theory

Zhang

Ai-ping

et al. 2021

Mathematical Problems in Engineering

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In this paper, a structure design scheme of intelligent replacement device for the ultrahigh voltage (UHV) converter transformer valve-side bushing is put forward, and its size is determined according to the actual size of domestic converter station valve hall and UHV converter transformer valve-side bushing. Moreover, the weak links in its working state are analyzed by finite element method to ensure the safety and reliability of the structure. Based on the spinor theory, the forward kinematics and Jacobian matrix model of the manipulator are established, and the analytical solution of inverse kinematics is derived. In order to analyze the accuracy of the intelligent replacement manipulator for the UHV converter transformer valve-side bushing, considering that the end actuator of the robot arm is under heavy load, the absolute positioning accuracy and repeated positioning accuracy are analyzed. In addition, the corresponding error model is established, the least square method is proposed to identify the error model, and the influence of the error caused by the load on the repetition accuracy is analyzed. Finally, the whole process simulation in ROS provides data support for the calculation of repetitive precision and verifies the feasibility of the intelligent replacement device for the UHV converter valve-side bushing.

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Section: Literature Reviewmentioning

confidence: 99%

Parameter Calibration on Replacement Manipulator for UHV Valve-Side Bushing Based on Spinor Theory

Zhang

Ai-ping

et al. 2021

Mathematical Problems in Engineering

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“…Many of these methods rely on intrinsic kinematic models (e.g., [ 6 - 9 ]), which minimize complicated, nonlinear error functions (unless only linearized error models are considered, which may exchange uncertainty for mathematical simplicity) in at least N -dimensional space, where N is the number of controllable joints in the serial kinematic chain. Calibrations based on extended modeling (i.e., beyond rigid kinematics) include compensating for thermal effects [ 10 ], and elastostatic [ 11 ] and higher order errors [ 12 ]. Likewise, examples of non-kinematics-based calibrations can be seen in [ 13 , 14 ].…”

Section: Introductionmentioning

confidence: 99%

Using Full Pose Measurement for Serial Robot Calibration

Franaszek¹,

Marvel²

2022

Applied Sciences

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To ensure smooth robot operations, parameters of its kinematic model and a registration transformation between robot base and world coordinate frame must be determined. Both tasks require data acquired by external sensors that can measure either 3D locations or full 6D poses. We show that use of full pose measurements leads to much smaller robot orientation errors when compared with the outcome of calibration and registration procedures based on 3D data only. Robot position errors are comparable for both types of data. The conclusion is based on extensive simulations of 7 degrees of freedom robot arm and different levels of pseudo-noise perturbing both positional and rotational components of pose.

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“…Elasto-geometrical calibration using identification models is used in [Jiang 2021] and [Mei 2021]. The selection of poses for robot elasto-static calibration is presented in [Kalas 2021]. Another elastic calibration approach uses flexible-rigid coupling error in the nonkinematic calibration with additional optimisation process [Xiaoyan 2019].…”

Section: Introductionmentioning

confidence: 99%

Untitled

2022

MM SJ

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The paper deals with the enhancement of the robotic arm calibration using corrections based on local linear neuro-fuzzy models. After the standard calibration of the geometric parameters in the robot's kinematic model, there are still residual errors between the measured positions and the positions predicted by the model. The source of these errors are various non-geometric parameters and nonlinear phenomena that traditional kinematic calibration models do not include. The neuro-fuzzy model based on a locally linear model tree can approximate the residual error as a function of the robot's joint angles. Adding this approximation to the output of the calibrated robot model significantly increases the accuracy of the endeffector position. The results of the described method were verified and compared with other approaches on a simulation model of a flexible planar two-link mechanism. Experimental verification was performed on an industrial robot Stäubli TX200 with data measured by Leica laser tracking device.

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Application-oriented selection of poses and forces for robot elastostatic calibration

Cited by 8 publications

References 10 publications

Parameter Calibration on Replacement Manipulator for UHV Valve-Side Bushing Based on Spinor Theory

Parameter Calibration on Replacement Manipulator for UHV Valve-Side Bushing Based on Spinor Theory

Using Full Pose Measurement for Serial Robot Calibration

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