Calibration Method for Industrial Robots Based on the Principle of Perigon Error Close

Li, Xirui; Zhang, Enzheng; Fang, Xianyong; Zhai, Bin

doi:10.1109/access.2022.3172505

Cited by 7 publications

(1 citation statement)

References 27 publications

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“…For example, Li et al proposed a calibration method for industrial robots based on the principle of circumferential closure. This approach used the LM algorithm to identify robot errors [26]. Sun et al proposed a general error modeling method based on finite and instantaneous spiral theory and designed two error identification algorithms to effectively improve robot accuracy.…”

Section: Introductionmentioning

confidence: 99%

Kinematic calibration and feedforward control of a heavy-load manipulator using parameters optimization by an ant colony algorithm

Wang,

Xie,

Jiang

et al. 2024

Robotica

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Most of the currently available three-degree-of-freedom manipulators are light load and cannot achieve full continuous rotation; given this, we designed a heavy-load manipulator that achieves unrestricted and continuous rotation. Due to manufacturing and assembly errors, parameter deviations between the real manipulator and its underlying theoretical model were unavoidable. Because of the lack of high-precision, high-frequency, and real-time closed-loop detection methods, we proposed a type of kinematics calibration of parameterized ant colony optimization and feedforward control methods. This was done to achieve high-precision motion control. First, an error model combining structural parameters and joint output angles was established, and the global sensitivity of each error source was analyzed to distinguish both primary and secondary sources. Based on the measured data of a laser tracker, the ant colony optimization was then used to identify six error sources. This resulted in both link length and joint driving errors of the designed manipulator. As it is a type of systematic error, the rounding error of the theoretical trajectory was carefully analyzed, and feedforward control methods with different coefficients were designed to further improve positioning accuracy based on the kinematic calibration. Experimental results showed that the proposed kinematic calibration and feedforward control methods achieved relatively precise motion control for the designed manipulator.

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Section: Introductionmentioning

confidence: 99%

Kinematic calibration and feedforward control of a heavy-load manipulator using parameters optimization by an ant colony algorithm

Wang,

Xie,

Jiang

et al. 2024

Robotica

View full text Add to dashboard Cite

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A novel approach for robot calibration based on measurement sub-regions with comparative validation

Toquica,

S.T. Motta

2024

Int J Adv Manuf Technol

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A logistic-tent chaotic mapping Levenberg Marquardt algorithm for improving positioning accuracy of grinding robot

Liu,

Deng,

Liu

et al. 2024

Sci Rep

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The precision of workpiece machining is critically influenced by the geometric errors in the kinematics of grind robots, which directly affect their absolute positioning accuracy. To tackle this challenge, this paper introduces a logistic-tent chaotic mapping Levenberg Marquardt algorithm designed to accurately identify and compensate for this geometric error. the approach begins with the construction of a forward kinematic model and an error model specific to the robot. Then the algorithm is adopted to identify and compensate for the geometric error. The method establishes a mapping interval around the initial candidate solutions derived from iterative applications of the Levenberg Marquardt algorithm. Within this interval, the logistic-tent chaotic mapping method generates a diverse set of candidate solutions. These candidates are evaluated based on their fitness values, with the optimal solution selected for subsequent iterations. Empirical compensation experiments have validated the proposed method's precision and effectiveness, demonstrating a 6% increase in compensation accuracy and a 47.68% improvement in efficiency compared to existing state-of-the-art approaches. This process not only minimizes the truncation error inherent in the Levenberg Marquardt algorithm but also significantly enhances solution efficiency. Moreover, simulation experiments on grind processes further validate the method's ability to significantly improve the quality of workpiece machining.

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Calibration Method for Industrial Robots Based on the Principle of Perigon Error Close

Cited by 7 publications

References 27 publications

Kinematic calibration and feedforward control of a heavy-load manipulator using parameters optimization by an ant colony algorithm

Kinematic calibration and feedforward control of a heavy-load manipulator using parameters optimization by an ant colony algorithm

A novel approach for robot calibration based on measurement sub-regions with comparative validation

A logistic-tent chaotic mapping Levenberg Marquardt algorithm for improving positioning accuracy of grinding robot

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