Kinematic calibration and investigation of the influence of universal joint errors on accuracy improvement for a 3-DOF parallel manipulator

Kong, Lingyu; Chen, Genliang; Zhang, Zhuang; Wang, Hao

doi:10.1016/j.rcim.2017.08.002

Cited by 39 publications

(16 citation statements)

References 22 publications

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“…where J θ represents the kinematic Jacobian matrix; equation (7) describes the transformation of the force between coordinate systems; 0 F m is the force vector of the external payload; 0 R 6 is the rotation matrix between the actual robot base frame (F 0 ) and the flange frame (F 6 ); 6 P m is the vector between the centroid of the external payload and the origin of the flange frame (F 6 ); and E 3 is a 3 × 3 identity matrix.…”

Section: Compliance Error Model With the Variable External Payloadsmentioning

confidence: 99%

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Evolutionary Robot Calibration and Nonlinear Compensation Methodology Based on GA-DNN and an Extra Compliance Error Model

Chen

Zhang

Sun

2020

Mathematical Problems in Engineering

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This study addresses the problem of nonlinear error predictive compensation to achieve high positioning accuracy for advanced industrial applications. An improved calibration method based on the generalisation performance evaluation is proposed to enhance the stability and accuracy of robot calibration. With the development of technology, a deep neural network (DNN) optimised by a genetic algorithm (GA) is applied to predict the nonlinear error of the calibrated robot. To address the change of external payload, an extra compliance error model is established with a linear piecewise method. A global compensation method combining the GA-DNN nonlinear regression prediction model and the compliance error model is then proposed to achieve the robot’s high-precision positioning performance under any external payload. Experimental results obtained on a Staubli RX160L robot with a FARO laser tracker are introduced to demonstrate the effectiveness and benefits of our proposed methodology. The enhanced positioning accuracy can reach 0.22 mm with 98% probability (i.e., the maximum positioning error in all test data).

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Section: Compliance Error Model With the Variable External Payloadsmentioning

confidence: 99%

“…To meet the high-precision requirements of complex tasks, the absolute positioning accuracy of robots is particularly important [2][3][4]. Robot calibration and error compensation are two important ways to improve the absolute positioning accuracy of robots, which have been studied by several scholars [5][6][7][8].…”

Section: Introductionmentioning

confidence: 99%

Evolutionary Robot Calibration and Nonlinear Compensation Methodology Based on GA-DNN and an Extra Compliance Error Model

Chen

Zhang

Sun

2020

Mathematical Problems in Engineering

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“…A straightforward explanation of this result is that the twist axis of a prismatic joint is a free vector so that it only needs two angular parameters to describe the direction [11,12,[22][23][24][25]. In addition, singular value decomposition (SVD) is an alternative way for determining the identifiable parameters at the calibration level [26][27][28][29][30][31][32][33][34][35][36]. Although a column full ranked identification Jacobian can be guaranteed, the retained error parameters have no longer geometrical meanings.…”

Section: ．Introductionmentioning

confidence: 99%

A screw theory based approach to determining the identifiable parameters for calibration of parallel manipulators

Yin

Tian

Liu

et al. 2020

Mechanism and Machine Theory

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“…Their global kinematic model was developed based on a Modified Denavit-Hartenberg (MDH) Model without separating the hand-eye and robot exterior models. The MDH method and Hayati convention were also used by Kong et al (2018) to calibrate the kinematics and enhance the accuracy of a 3-PRRU parallel manipulator through the effect of error of its universal joints. However, the disadvantage of the model-based method is that an understanding of modelling and identification processes requires advanced knowledge of robot kinematics.…”

Section: Introductionmentioning

confidence: 99%

Calibration of Industrial Robot Kinematics Based on Results of Interpolating Error by Shape Function

Thu¹,

Quoc²,

Long³

2020

J. Eng. Appl. Sci.

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The initial accuracy of a robot arm depends not only on the hardware's manufacturing and assembly quality but also on control strategies. During assembly or regular maintenance, the kinematic accuracy of a robot arm needs to be verified and calibrated to maintain the desired quality. In this study, we present a method to determine and correct the robot kinematic error based on the shape function interpolation technique. Experimental research was applied to aABB robot with six degrees of freedom to verify the correctness of the method. The results indicated that the position errors of the end-effector were significantly reduced. The effectiveness of the proposed interpolation method and combined error compensation algorithm demonstrated that practical application is feasible.

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Kinematic calibration and investigation of the influence of universal joint errors on accuracy improvement for a 3-DOF parallel manipulator

Cited by 39 publications

References 22 publications

Evolutionary Robot Calibration and Nonlinear Compensation Methodology Based on GA-DNN and an Extra Compliance Error Model

Evolutionary Robot Calibration and Nonlinear Compensation Methodology Based on GA-DNN and an Extra Compliance Error Model

A screw theory based approach to determining the identifiable parameters for calibration of parallel manipulators

Calibration of Industrial Robot Kinematics Based on Results of Interpolating Error by Shape Function

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