Calibration for Precision Kinematic Control of an Articulated Serial Robot

Sun, Tao; Liu, Chao-Yu; Lian, Binbin; Wang, Panfeng; Song, Yimin

doi:10.1109/tie.2020.2994890

Cited by 48 publications

(11 citation statements)

References 23 publications

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“…For the applications of finite screw to mechanism analysis, Huang [120][121][122] built the forward kinematic equations of some serial mechanisms. Sun and his colleagues [133][134][135][136] proposed a generic method to formulate motion equations for different types of mechanisms. Finite motion based type synthesis and instantaneous motion based kinematic analysis of parallel mechanisms are integrated by a consistent algebraic manner in their method.…”

Section: Finite Srew and Instantaneous Screwmentioning

confidence: 99%

A Survey of Mathematical Tools in Topology and Performance Integrated Modeling and Design of Robotic Mechanism

Huo

Yang

Lian

et al. 2020

Chin. J. Mech. Eng.

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Topology and performance are the two main topics dealt in the development of robotic mechanisms. However, it is still a challenge to connect them by integrating the modeling and design process of both parts in a unified frame. As the properties associated with topology and performance, finite motion and instantaneous motion of the robot play key roles in the procedure. On the purpose of providing a fundamental preparation for integrated modeling and design, this paper carries out a review on the existing unified mathematic frameworks for motion description and computation, involving matrix Lie group and Lie algebra, dual quaternion and pure dual quaternion, finite screw and instantaneous screw. Besides the application in robotics, the review of the work from these mathematicians concentrates on the description, composition and intersection operations of the finite and instantaneous motions, especially on the exponential-differential maps which connect the two sides. Furthermore, an in-depth discussion is worked out by investigating the algebraical relationship among these methods and their further progress in integrated robotic development. The presented review offers insightful investigation to the motion description and computation, and therefore would help designers to choose appropriate mathematical tool in the integrated design and modeling and design of mechanisms and robots.

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Section: Finite Srew and Instantaneous Screwmentioning

confidence: 99%

A Survey of Mathematical Tools in Topology and Performance Integrated Modeling and Design of Robotic Mechanism

Huo

Yang

Lian

et al. 2020

Chin. J. Mech. Eng.

Self Cite

View full text Add to dashboard Cite

show abstract

“…Then several measuring points can be planed to measure the errors of the end-effector within the prescribed workspace of the 3-CRU parallel robot according to equation (9) and equation (10).…”

Section: Formulation Of Error Measurementmentioning

confidence: 99%

“…8 After that, error compensation by modified input without modifying existing motion controller was realized. 9 These studies have greatly enriched the methods of parallel robot accuracy calibration, and provided many feasible choices for the implementation of accuracy calibration. However, the kernel step in the calibration process is to identify the geometric parameters using a minimum set of error data which can be easily measured in a time and cost effective manner without compromising the accuracy of the end results.…”

Section: Introductionmentioning

confidence: 99%

Accuracy calibration of a 3-CRU translational parallel robot based on the subset of error measurements

Cao

He³

2020

Proceedings of the Institution of Mechanical Engineers, Part C:

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Robot accuracy calibration is an effective method to improve its kinematic accuracy. However, most of the existing calibration methods need to measure the complete set of 6-dimensional pose errors of the end-effector, which makes the calibration process especially complicated. In this paper, an accuracy calibration method for a 3-CRU translational parallel robot is proposed based on the subset of error measurements. The process is implemented by four steps: 1) the error model is established based on matrix method. Then the structural errors to be identified are separated. 2) part of pose errors of the end-effector are measured by laser tracker and used to form the subset of error measurements. 3) the minimum structural error linear combination affecting robot accuracy is determined according to the minimum parameter error linear combination theorem. After that, the structural errors can be identified based on the subset of error measurements. 4) error compensation based on the identification results. This method can not only ensure the identifiability of the structural errors, but also can realize error identification based on the subset of error measurements, which will significantly reduce the calibration workload and improve the calibration efficiency. Experiments are carried out to prove the effectiveness of the calibration method.

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“…The main idea of the above papers is to improve the modeling accuracy between joint angles (or the errors) and poses (or the errors) of the robot arm end-effector through calibration or positioning methods including error modeling, pose measuring, parameter identification or compensation where the environment is well structured. 24 The above methods are complicated for robot controller making the calibration process less efficient, 25 and mainly concentrating on the accuracy of joint angles. Since joint angles have transformation relationship with the positions, the above methods don't directly focus on position error.…”

Section: Introductionmentioning

confidence: 99%

A positioning error compensation method for multiple degrees of freedom robot arm based on the measured and target position error

Feng

Ouyang

et al. 2022

Advances in Mechanical Engineering

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A novel positioning error compensation method (PECM) based on the measured and target position error for multiple degrees of freedom (DOF) robot arm control is proposed, which is used to improve positioning accuracy of multiple-DOF robot arm end-effector in accurate positioning applications such as in the medical and mechanical fields. Based on the idea of PID to increase adaptiveness and robustness of the method, a positioning compensation model between the measured and target position error tracked by an optical tracking system and compensated joint angle is derived with inverse kinematic model. Based on error analysis of the compensation model regarding geometry errors, the proportional joint angle compensated coefficient deduced from Jaccobian matrix of the error is proposed and identified with position error data. Calibration experiments for position conversion matrix and positioning accuracy verification experiments are conducted consisting of an optical tracking system and a robot arm. The results of positioning accuracy verification experiments show that the average resultant positioning error in three directions reduces from 1.89 mm (before compensation, model based on Denavit-Hartenberg (DH)), 0.39 mm (model based on modified Denavit-Hartenberg (MDH) with Levenberg-Marquardt (LM)) to 0.34 mm (decreasing 82%, 15%), which demonstrates the efficiency and robustness of the method.

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Calibration for Precision Kinematic Control of an Articulated Serial Robot

Cited by 48 publications

References 23 publications

A Survey of Mathematical Tools in Topology and Performance Integrated Modeling and Design of Robotic Mechanism

A Survey of Mathematical Tools in Topology and Performance Integrated Modeling and Design of Robotic Mechanism

Accuracy calibration of a 3-CRU translational parallel robot based on the subset of error measurements

A positioning error compensation method for multiple degrees of freedom robot arm based on the measured and target position error

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