Identification strategy of error parameter in volumetric error compensation of machine tool based on laser tracker measurements

Aguado, Sergio; Samper, David; Santolaria, Jorge

doi:10.1016/j.ijmachtools.2011.11.004

Cited by 145 publications

(108 citation statements)

References 19 publications

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“…Assuming that moving cars of the kinematic chain are rigid bodies, transformation and rotation matrices can be implemented by using a mathematical model (kinematic model) based on the MT configuration [6,7,11,13]. Then, the position of the tool with regard to the part to be machined is obtained in relation to the programmed nominal position, the position of the tip of the tool with respect to the reference machine (offsets), and the geometric errors of the axes.…”

Section: Structural Configuration and Kinematic Model Of The Machine mentioning

confidence: 99%

Adequacy of Technical and Commercial Alternatives Applied to Machine Tool Verification Using Laser Tracker

et al. 2016

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Besides presenting a volumetric verification technique that allows characterization of the different geometric errors of a machine tool (MT) depending on its kinematic chain and geometry through a kinematic model, this paper investigates the influence of measurement tools and techniques available on the final accuracy of the MT. Volumetric verification based on a laser tracker (LT) relates the coordinates of the tool with the coordinates of the LT, including it into the kinematic model. Using a non-lineal optimization process, approximation functions that characterize the joint influence of MT geometric errors are obtained. However, measurement data will be affected by previous compensation of the MT, the accuracy of the measurement system, LT measurement technology, the type of retroreflector used, and techniques used to improve data accuracy, among other sources of errors. This paper studies the adequacy of different commercial alternatives such as: retroreflectors, LTs from different manufacturers, etc., that can be applied in MT verification using a long-range MT. As the accuracy is strongly affected by the uncertainty of its angular encoders, the multilateration technique tries to improve data accuracy using only LT radial information. Nonetheless, a new bundle adjustment which uses radial and angular information is presented in current metrology software. This paper studies both techniques and analyzes their adequacy for MT verification too.

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Section: Structural Configuration and Kinematic Model Of The Machine mentioning

confidence: 99%

Adequacy of Technical and Commercial Alternatives Applied to Machine Tool Verification Using Laser Tracker

et al. 2016

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“…The first one measures a cloud of points distributed inside the working volume of the machine [7] to gather information about the global error. From the error of those points and the kinematic model of the machine, it is possible to iterate to minimize the global error of the machine at the considered points.…”

Section: Introductionmentioning

confidence: 99%

Verification of Machine Tools Using Multilateration and a Geometrical Approach

et al. 2018

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A multilateration technique using three laser trackers to assess the geometrical errors of machine tools, not from a volumetric approach, but from a geometrical one is presented. It has been applied to a medium-size milling machine together with other more conventional systems, including laser interferometer, reference ball artifacts, and self-centering probes. A comparison among all these different techniques and the errors obtained has been carried out in order to determine their respective limitations and the sources of uncertainty affecting each of them. This has been used as a first step to establish the advantages and limitations of this multilateration technique, especially when verifying large machine tools. The options for using only one laser tracker have also been studied and their limitations established.

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“…In robotic literature, the problem of geometric calibration is already well studied and has been in the focus of the research community for many years [1][2][3][4][5][6][7][8]. As reported by a number of authors, the manipulator geometric errors are responsible for about 90% of the total positioning error [9].…”

Section: Introductionmentioning

confidence: 99%

“…Laser tracking system (a) -0.10 PUMA 560 [27] 3 6 8 0 0 (1) Ball-bar system (a) Gradient search method 0.08 PUMA 560 [22] 2 4 4 8…”

Section: Introductionmentioning

confidence: 99%

Geometric calibration of industrial robots using enhanced partial pose measurements and design of experiments

Klimchik

Caro

et al. 2015

Robotics and Computer-Integrated Manufacturing

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Geometric calibration of industrial robots using enhanced partial pose measurements and design of experiments. Robotics and Computer-Integrated Manufacturing, Elsevier, 2015, 35, pp.151-168 The paper deals with geometric calibration of industrial robots and focuses on reduction of the mea-surement noise impact by means of proper selection of the manipulator configurations in calibration experiments. Particular attention is paid to the enhancement of measurement and optimization techniques employed in geometric parameter identification. The developed method implements a complete and irreducible geometric model for serial manipulator, which takes into account different sources of errors (link lengths, joint offsets, etc). In contrast to other works, a new industry-oriented performance measure is proposed for optimal measurement configuration selection that improves the existing techniques via using the direct measurement data only. This new approach is aimed at finding the ca-libration configurations that ensure the best robot positioning accuracy after geometric error compen-sation. Experimental study of heavy industrial robot KUKA KR-270 illustrates the benefits of the devel-oped pose strategy technique and the corresponding accuracy improvement.

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Identification strategy of error parameter in volumetric error compensation of machine tool based on laser tracker measurements

Cited by 145 publications

References 19 publications

Adequacy of Technical and Commercial Alternatives Applied to Machine Tool Verification Using Laser Tracker

Adequacy of Technical and Commercial Alternatives Applied to Machine Tool Verification Using Laser Tracker

Verification of Machine Tools Using Multilateration and a Geometrical Approach

Geometric calibration of industrial robots using enhanced partial pose measurements and design of experiments

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