Multiple measurement models of articulated arm coordinate measuring machines

Zheng, Dezhi; Xiao, Zhongyue; Xia, Xiang

doi:10.3901/cjme.2015.0716.095

Cited by 16 publications

(11 citation statements)

References 8 publications

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“…In order to verify the advantage of the proposed method with respect to D-H model [32], the comparison experiment is also done by PACMM based on the generalized geometric error parameters and D-H model, respectively.…”

Section: Methodsmentioning

confidence: 99%

A New Kinematic Model of Portable Articulated Coordinate Measuring Machine

Jia

et al. 2016

Applied Sciences

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Portable articulated coordinate measuring machine (PACMM) is a kind of high accuracy coordinate measurement instrument and it has been widely applied in manufacturing and assembly. A number of key problems should be taken into consideration to achieve the required accuracy, such as structural design, mathematical measurement model and calibration method. Although the classical kinematic model of PACMM is the Denavit-Hartenberg (D-H) model, the representation of D-H encounters the badly-conditioned problem when the consecutive joint axes are parallel or nearly parallel. In this paper, a new kinematic model of PACMM based on a generalized geometric error model which eliminates the inadequacies of D-H model has been proposed. Furthermore, the generalized geometric error parameters of PACMM are optimized by the Levenberg-Marquard (L-M) algorithm. The experimental result demonstrates that the measurement of standard deviation of PACMM based on the generalized geometric error model has been reduced from 0.0627 mm to 0.0452 mm with respect to the D-H model.

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Section: Methodsmentioning

confidence: 99%

A New Kinematic Model of Portable Articulated Coordinate Measuring Machine

Jia

et al. 2016

Applied Sciences

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“…The identification of the dynamic parameters of the robotic arm mainly studies the parameter estimation methods of the structural parameters, inertial parameters and friction parameters of the robotic arm, and these parameters are the basis of the research of the robotic arm. In general, some structural parameters can be obtained through kinematic calibration, but dynamic parameters need to estimate by identification method [1][2][3]. At the same time, due to changes in the external working environment, the length of use of the working robotic arm, and the difference in the clamping equipment at the end of the working robotic arm will affect the dynamic characteristics of the robotic arm [4][5].…”

Section: Introductionmentioning

confidence: 99%

An Improved Redundant Robotic Arm Parameter Identification Method

Liu¹,

Ma²,

Chen³

et al. 2020

Preprint

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In order to establish the dynamic model of redundant robotic arm more accurately, this paper studies the identification method of the dynamic parameters of redundant robotic arm. A method of introducing the theory of spins based on the Newton-Euler dynamics equations, and using the Coulomb + viscous friction model to further derive the minimum parameter set through linearization is proposed. The method of offline identification of current measurement is used to realize the parameter identification of the robotic arm. The excitation trajectory is designed in the basic form of Fourier series. The non-linear optimization function is used to optimize the coefficient of the trajectory with the minimum number of conditions in the observation matrix as the goal Therefore, the available joint trajectories are obtained, and the obtained parameter set has high accuracy and can meet the needs of actual control. Finally, the method was experimentally tested by actual robot Walker, which verified the accuracy and effectiveness of the proposed method.

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“…And the angles can be transformed into the three coordinates ( , , ) through the kinematic model. The AACMM possesses some specific and essential characteristics and advantages, for example, simple mechanical structure, small size, light weight, large measurement range, and flexible measurement in field [4].…”

Section: Introductionmentioning

confidence: 99%

Structural Parameter Identification of Articulated Arm Coordinate Measuring Machines

Gao

Zhang

Guo

2016

Mathematical Problems in Engineering

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Precise structural parameter identification of a robotic articulated arm coordinate measuring machine (AACMM) is essential for improving its measuring accuracy, particularly in robotic applications. This paper presents a constructive parameter identification approach for robotic AACMMs. We first develop a mathematical kinematic model of the AACMM based on the Denavit-Hartenberg (DH) approach established for robotic systems. This model is further calibrated and verified via the practical test data. Based on the difference between the calculated coordinates of the AACMM probe via the kinematic model and the given reference coordinates, a parameter identification approach is proposed to estimate the structural parameters in terms of the test data set. The Jacobian matrix is further analyzed to determine the solvability of the identification model. It shows that there are two coupling parameters, which can be removed in the regressor. Finally, a parameter identification algorithm taking the least-square solution of the identification model as the structural parameters by using the obtained poses data is suggested. Practical experiments based on a robotic AACMM test rig are carried out, and the results reveal the effectiveness and robustness of the proposed identification approach.

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Multiple measurement models of articulated arm coordinate measuring machines

Cited by 16 publications

References 8 publications

A New Kinematic Model of Portable Articulated Coordinate Measuring Machine

A New Kinematic Model of Portable Articulated Coordinate Measuring Machine

An Improved Redundant Robotic Arm Parameter Identification Method

Structural Parameter Identification of Articulated Arm Coordinate Measuring Machines

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