Calibration of 6-DOF industrial robots based on line structured light

Xie, Zhengchao; Zong, Pengfei; Yao, Ping; Ren, Ping

doi:10.1016/j.ijleo.2019.02.069

Cited by 24 publications

(12 citation statements)

References 16 publications

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“…Position deviations were added to each robot position coordinate to generate the robot measured positions to be used in the calibration procedures, simulating measurement errors. They were calculated with random numbers generated with a Gaussian distribution with non-zero mean and a standard deviation in a range of 0.01 to 0.1 (mm or degrees) [17,23,[45][46][47].…”

Section: Kinematic Error Parametersmentioning

confidence: 99%

A Methodology for Industrial Robot Calibration Based on Measurement Sub-Regions

Toquica

Motta

2021

Preprint

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This paper proposes a methodology for calibration of industrial robots that uses a concept of measurement sub-regions, allowing low-cost solutions and easy implementation to meet the robot accuracy requirements in industrial applications. The solutions to increasing the accuracy of robots today have high-cost implementation, making calibration throughout the workplace in industry a difficult and unlikely task. Thus, reducing the time spent and the measured workspace volume of the robot end-effector are the main benefits of the implementation of the sub-region concept, ensuring sufficient flexibility in the measurement step of robot calibration procedures. The main contribution of this article is the proposal and discussion of a methodology to calibrate robots using several small measurement sub-regions and gathering the measurement data in a way equivalent to the measurements made in large volume regions, making feasible the use of high-precision measurement systems but limited to small volumes, such as vision-based measurement systems. The robot calibration procedures were simulated according to the literature, such that results from simulation are free from errors due to experimental setups as to isolate the benefits of the measurement proposal methodology. In addition, a method to validate the analytical off-line kinematic model of industrial robots is proposed using the nominal model of the robot supplier incorporated into its controller.

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Section: Kinematic Error Parametersmentioning

confidence: 99%

A Methodology for Industrial Robot Calibration Based on Measurement Sub-Regions

Toquica

Motta

2021

Preprint

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“…e D-H parameter method is used to establish the kinematic model in reference [27][28][29][30], but the D-H parameter method has a defect that cannot be ignored, that is, its motion can only revolve around the x-axis and z-axis, but cannot express the motion about the y-axis [26], which makes the singularity problem when the two continuous joints are parallel or nearly parallel, and the calculation process of the kinematic model of the manipulator with multidegree of freedom is complex and inefficient. In view of the shortcomings of the D-H parameter method, the MDH method has good kinematic characteristics and can find the forward and inverse solutions of the kinematic model [13,[31][32][33], but the singularity problem is still a great challenge. In order to solve the singularity problem of kinematic model, the model based on POE not only has the characteristic of no singularity but also can deal with any combination of rotating joint and prism joint, which ensures the completeness of the model, and has been widely used in recent years [30,[34][35][36][37].…”

Section: Literature Reviewmentioning

confidence: 99%

“…e performance of the manipulator is mainly evaluated from two aspects: positioning accuracy and repeatability [12][13][14][15]. e positioning accuracy and repeatability of the manipulator are called the accuracy of the manipulator.…”

Section: Introductionmentioning

confidence: 99%

“…e former can be summarized as the ability of the manipulator to accurately achieve any position and pose at any possible speed relative to the base coordinate system along any path in the workspace. Repeatability means that the manipulator can accurately reach the last position along the last traversing path, and the repeatability of the manipulator is also called the repetitive positioning accuracy of the manipulator [13].…”

Section: Introductionmentioning

confidence: 99%

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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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“…Zhang et al 15 applied ultrasound to demonstrate partial pose measurements. Another approaching method is using line structured light by Xie et al 16 In this work, the authors use the line structured light measurement system mounted on the tip of the robot to acquire full pose measurement. Thought, there have been no specific studies about how much this supplementary orientation information of the end-effector improves the robot positional accuracy.…”

Section: Introductionmentioning

confidence: 99%

A performance comparison of the full pose- and partial pose-based robot calibration for various types of robot manipulators

Nguyen

Kang

2021

Advances in Mechanical Engineering

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Robot kinematic calibration used to be carried out with the partial pose measurements (position only) of dimension 3 in industry, while full pose measurements (orientation and position) of dimension 6 sometimes could be considered to improve the calibration performance. This paper investigates the effects of measurement dimensions on robot calibration accuracy. It compares the resulting robot accuracies in both partial pose and full pose cases after calibrating three structural types of robot manipulators such as a serial manipulator (Hyundai HA-06 robot), a single closed-chain manipulator (Hyundai HX-165 robot), and a multiple closed-chain manipulator (Hyundai HP-160 robot). These comparative studies show when the full-pose based calibration need to be considered and how much it contributes the improvement of robot accuracy to the different structural type of robot manipulators.

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Calibration of 6-DOF industrial robots based on line structured light

Cited by 24 publications

References 16 publications

A Methodology for Industrial Robot Calibration Based on Measurement Sub-Regions

A Methodology for Industrial Robot Calibration Based on Measurement Sub-Regions

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

A performance comparison of the full pose- and partial pose-based robot calibration for various types of robot manipulators

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