GPGPU acceleration of a novel calibration method for industrial robots

Messay, Temesguen; Chen, Chong; Ordóñez, Raúl; Taha, Tarek M.

doi:10.1109/naecon.2011.6183089

Cited by 7 publications

(4 citation statements)

References 5 publications

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“…Also to note is that the calculated time consumption appears to be less on average in the case of the 1DCAL calibration system (in comparison with 3DCAL). In order to accelerate the automated/ numerical approach of "Stage 1", we would like to refer the reader to a previous work of the current author [96]. In that work, we have proven that as long as processes are parallel, they can be greatly accelerated.…”

Section: Discussionmentioning

confidence: 99%

“…The process related to each starting point is independent from another (i.e., parallel). And hence, those processes can be simultaneously done on a platform like the one described in [96]. We acknowledge that the scatter search method that requires the 450 processes for a good parameter assessment can also be implemented in that type of platform and hence can also be greatly accelerated (i.e., the 450 processes can be conducted simultaneously).…”

Section: Discussionmentioning

confidence: 99%

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Computationally efficient and robust kinematic calibration methodologies and their application to industrial robots

Messay

Ordóñez

Marcil³

2016

Robotics and Computer-Integrated Manufacturing

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Robot kinematic calibration is the process of enhancing the positioning accuracy of a given manipulator and must be performed after robot manufacture and assembly or during periodical maintenance. This dissertation presents new computationally efficient and robust kinematic calibration algorithms for industrial robots that make use of partial measurements. These include a calibration method that requires the supply of Cartesian coordinates of the calibration points (3DCAL) and another calibration technique that only requires the radial measurements from the calibration points to some reference (1DCAL). Neither method requires orientation measurements nor the explicit knowledge of the whereabout of a reference frame. Contrary to most other similar works, both methods make use of a simplified version of the original Denavit-Hartenberg (DH) kinematic model. The simplified DH(-) model has not only proven to be robust and effective in calibrating industrial manipulators but it is also favored from a computational efficiency viewpoint since it consists of comparatively fewer error parameters. We present a conceptual approach I also would like to thank the director of Yaskawa Motoman Robotics, Inc. Mr. Wade Hickle, Senior Engineer Mr. Eric Marcil and Chief Engineer Mr. George Sutton for their guidance and for making the much needed materials available to me. I appreciate Dr. John Loomis and Dr. Ruihua Liu for participating in my committee. Thanks go to Mr. Tom Schenck of Measurement Specialties, Inc. for allowing me to conduct experiments in his workplace. Finally, I would like to give my special thanks to my dearest friends for all their help and encouragement. vi

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Section: Discussionmentioning

confidence: 99%

Section: Discussionmentioning

confidence: 99%

Computationally efficient and robust kinematic calibration methodologies and their application to industrial robots

Messay

Ordóñez

Marcil³

2016

Robotics and Computer-Integrated Manufacturing

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“…The model-based methods are more commonly used for robot calibration [ 6 ]. However, some studies have also implemented model-less calibration techniques such as [ 11 , 12 , 13 , 14 ]. Such techniques involve building relation between the position errors of robots and workspace or joint space [ 6 ].…”

Section: Existing Methodologies For Kinematic Calibrationmentioning

confidence: 99%

Fast Kinematic Re-Calibration for Industrial Robot Arms

Kana

Gurnani

Ramanathan

et al. 2022

Sensors

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Accurate kinematic modelling is pivotal in the safe and reliable execution of both contact and non-contact robotic applications. The kinematic models provided by robot manufacturers are valid only under ideal conditions and it is necessary to account for the manufacturing errors, particularly the joint offsets introduced during the assembling stages, which is identified as the underlying problem for position inaccuracy in more than 90% of the situations. This work was motivated by a very practical need, namely the discrepancy in terms of end-effector kinematics as computed by factory-calibrated internal controller and the nominal kinematic model as per robot datasheet. Even though the problem of robot calibration is not new, the focus is generally on the deployment of external measurement devices (for open loop calibration) or mechanical fixtures (for closed loop calibration). On the other hand, we use the factory-calibrated controller as an ‘oracle’ for our fast-recalibration approach. This allows extracting calibrated intrinsic parameters (e.g., link lengths) otherwise not directly available from the ‘oracle’, for use in ad-hoc control strategies. In this process, we minimize the kinematic mismatch between the ideal and the factory-calibrated robot models for a Kinova Gen3 ultra-lightweight robot by compensating for the joint zero position error and the possible variations in the link lengths. Experimental analysis has been presented to validate the proposed method, followed by the error comparison between the calibrated and un-calibrated models over training and test sets.

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“…As for the modeless calibration methods like Artificial Neural Networks (ANN) (Messay et al, 2011) and Kriging (Zeng et al, 2016;Zeng et al, 2017), there is no need to build exact kinematic models and compensate the nominal parameters in the control software. These modeless calibration methods concentrate on building the relationship between position errors of the robots and the work space or joint space.…”

Section: Introductionmentioning

confidence: 99%

A flexible calibration method connecting the joint space and the working space of industrial robots

Cai

Yuan

Chen

2018

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Purpose To improve the accuracy of the industrial robots’ absolute positioning, a Kriging calibration is proposed. Design/methodology/approach This method particularly designs a semivariogram for connecting the joint space and the working space. After that, Kriging equations are determined and solved to predict the position errors of targets. Subsequently, a simple and convenient error compensation, which can be implemented on the control command, is proposed. Findings The verification experiment of the position-error multiplicity and the Kriging calibration experiment are done in the KUKA R210 R2700 industrial robot. The position-error multiplicity experiment reveals that the position error of the industrial robot varies with the joint angle sets. Besides, the Kriging calibration experiment shows that the maximum of the spatial position errors is reduced from 1.2906 to 0.2484 mm, which reveals the validity of the Kriging calibration. Originality/value The special designed semivariation allows this method to be flexible and practical. It can be used in various fields where the angle solutions of industrial robots should be adapted according to the optimal demand and the environment, such as the optimal trajectory planning and the obstacle avoidance. Besides, this method can provide accuracy positioning results.

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GPGPU acceleration of a novel calibration method for industrial robots

Cited by 7 publications

References 5 publications

Computationally efficient and robust kinematic calibration methodologies and their application to industrial robots

Computationally efficient and robust kinematic calibration methodologies and their application to industrial robots

Fast Kinematic Re-Calibration for Industrial Robot Arms

A flexible calibration method connecting the joint space and the working space of industrial robots

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