Contour error-based optimization of the end-effector pose of a 6 degree-of-freedom serial robot in milling operation

Lin, Junzhe; Ye, Congcong; Yang, Jixiang; Zhao, Huan; Ding, Han; Luo, Ming

doi:10.1016/j.rcim.2021.102257

Cited by 34 publications

(9 citation statements)

References 36 publications

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“…From the perspective of bionics, the modular robot designed in this paper adopts a tandem [26] structural design, which enables the robot to achieve multi-attitude motion flexibly and is suitable for the machine assembly of the machine. In addition, the concept of symmetric design is used in the structure [27], which is widely used in mechanical engineering due to its advantages of balanced force and manufacturing efficiency.…”

Section: Conformation Design Scheme For the Reconfigurable Robotmentioning

confidence: 99%

Modular Robotic Design and Reconfiguring Path Planning

et al. 2022

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The modular robot is becoming a prevalent research object in robots because of its unique configuration advantages and performance characteristics. It is possible to form robot configurations with different functions by reconfiguring functional modules. This paper focuses on studying the modular robot’s configuration design and self-reconfiguration process and hopes to realize the industrial application of the modular self-reconfiguration robot to a certain extent. We design robotic configurations with different DOF based on the cellular module of the hexahedron and perform the kinematic analysis of the structure. An innovative design of a modular reconfiguration platform for conformational reorganization is presented, and the collaborative path planning between different modules in the reconfiguration platform is investigated. We propose an optimized ant colony algorithm for reconfiguration path planning and verify the superiority and rationality of this algorithm compared with the traditional ant colony algorithm for platform path planning through simulation experiments.

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Section: Conformation Design Scheme For the Reconfigurable Robotmentioning

confidence: 99%

Modular Robotic Design and Reconfiguring Path Planning

et al. 2022

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“…The contact procession is shown in Figure 3. Xe represents the position of the working environment, Xr represents the actual position of the end effector of the milling robot [27][28].…”

Section: Motion Description Language Model Of the Vertebral Milling R...mentioning

confidence: 99%

Trajectory Correction Method of Motion Description Language of Vertebral Milling Robot based on Force Feedback

Ding¹,

Liu²,

Wang³

et al. 2022

J. Engg. Res. & Sci.

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In the real-time control procession of the vertebral milling robot, there are problems such as heavy workload of the operator, long working time, operational tremble and complicated procession. In order to solve the clinical practical basic problems such as avoiding excessive milling and force perception control of vertebral milling robot, this paper proposes a method of trajectory correction of motion description language of milling robot based on force feedback. The task of trajectory correction of the milling robot oriented to force feedback, on the basis of ensuring the atom relationship of motion description language, defines seven motion atoms for the function of avoiding excessive milling during the actual operation of the milling robot. A milling robot experimental system is built with a force feedback control handle and a milling robot. Experiments are carried out on the trajectory correction method of the milling robot based on the motion description language. The experimental results verify the feasibility and effectiveness of this method. The innovation of this paper is reflected in the following two aspects. The use of force feedback to define and model motion description language atoms is an innovation, and the application of motion description language trajectory correction method to the field of vertebral milling robots is an application innovation.

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“…Turntables, also known as rotary tables, positioners, or positioning tables, have emerged as indispensable tools in manufacturing, particularly within robotic manufacturing processes such as milling [1][2][3][4] and welding [5][6][7] due to their ability to improve the degree of freedom of workpieces or tools. Furthermore, turntables find extensive utility in measurement applications, including body scanners [8], industrial parts scanners [9], plant scanners [10], and various 3D reconstruction applications [11][12][13].…”

Section: Introductionmentioning

confidence: 99%

An SVD-based turntable calibration method with multiple reference planes segmented from point clouds

Yang,

Wang,

et al. 2023

Meas. Sci. Technol.

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Turntables play an essential role in various industrial areas due to their ability to improve the DOF (degree of freedom) of workpieces or tools. In applications where positional accuracy of the objects is required, the accuracy of the system parameters of the turntable is critical for the applications to work properly. This paper proposes a new approach to calibrating the turntable system. First, we propose an optimized RANSAC (Random Sample Consensus) algorithm to obtain high-accuracy reference planes from multiple frames of point clouds grabbed from the reference object placed on a turntable. Second, an SVD (Singular Value Decomposition)-based two-step method is proposed to calculate the rotation axis vector and the center position of the turntable based on the reference planes extracted by the modified RANSAC algorithm. Finally, several experiments are performed to verify the proposed methods. Compared with the existing methods, our approach gets the analytical results and tries to correct the rotation angles. The experimental results show that the proposed method considerably improves calibration accuracy and efficiency without complex devices.

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Contour error-based optimization of the end-effector pose of a 6 degree-of-freedom serial robot in milling operation

Cited by 34 publications

References 36 publications

Modular Robotic Design and Reconfiguring Path Planning

Modular Robotic Design and Reconfiguring Path Planning

Trajectory Correction Method of Motion Description Language of Vertebral Milling Robot based on Force Feedback

An SVD-based turntable calibration method with multiple reference planes segmented from point clouds

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