Multi-objective position control for an industrial robot calibration system

Jia, Yunyi; Su, Chengzhi; Deng, Zongquan; Xi, Ning; Li, Xiongzi; Martínez, Carlos; Zhang, George

doi:10.1109/coase.2015.7294267

Cited by 2 publications

(3 citation statements)

References 19 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Due to that the position of the dual-PSD in the robot's task space is unknown, the study on the stability of the unknown system is the primary problem of the calibration method. For the study on the stability of robot system, models and control approaches based on dual-PSD have been proposed by Yunyi Jia, Chengzhi Su, et al [2,3] and the simulation experiments have been carried out. Zhihui Deng, Yunyi Jia, et al [4] have designed the dual-PSD based adaptive alignment algorithm and have given a conclusion that the system is stable by simulation.…”

Section: Introductionmentioning

confidence: 99%

“…In literature [6], Yantao Shen, Ning Xi, et al have proposed the adaptive algorithm when the position of the PSD array is unknown in the robot task space, eventually have reached the conclusion that the laser spots were stable to the desired positions. For the stability of the system, in the literature [2][3][4], the corresponding control algorithms have been proposed, and the simulation results have been demostrated, however, the theoretical proof has not been discussed. In literature [5,6], the discussion of the system stability was only on planar robots.…”

Section: Introductionmentioning

confidence: 99%

“…denotes the distance between the origin of frame ∑ L and 1 p ,and can be measured by the Laser triangulation. The coordinate of 2 p can be expressed as: denotes the distance between 1 p and 2 p ,and can be obtained by the distance formula between two points.The expression of Y can be obtained by equation group(2)and(3).The derivative of Y is kinematics model was established by using the method of DH[10,11],and the pose matrix of frame ∑ E under the frame ∑ B which can be written as T B E is derived. The pose matrix of frame ∑ L under the frame ∑ 1 limitations, only to show x n…”

mentioning

confidence: 99%

See 2 more Smart Citations

The stability of dual-PSD based calibration system without its relative location to 3D forming of carbon fiber

Su¹,

Zhong²,

Cheng-yun³

et al. 2016

Proceedings of the International Symposium on Mechanical Engineering and Material Science

Self Cite

View full text Add to dashboard Cite

The trajectory accuracy of the carbon fiber 3D forming robots is one of the key factors to ensure the quality of forming. It is well known that carbon fiber 3D forming robots have high repeatability but low accuracy. Compared to conventionally used calibration methods, dual-PSD based methods provide a more efficient way to accurately calibrate the joint offsets of industrial robots. But the stability of dual-PSD calibration system requires a strict proof in mathematics when the relationship between the robot base frame and the PSD frame is unknown. In this paper, by using an adaptive algorithm based on Lyapunov function, we can estimate the unknown parameters online without the parameters of the relationship. It is proved that the laser spots were stable to the desired positions on the dual-PSD plane. The performance is confirmed by the simulations at last. The carbon fiber 3D forming robots positioning accuracy can reach 0.0222mm when the method proposed in this paper is used successfully. In this case, the quality of the forming can be assured.

show abstract

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

mentioning

confidence: 99%

See 1 more Smart Citation