Non-kinematic calibration of industrial robots using a rigid–flexible coupling error model and a full pose measurement method

Chen, Xiaoyan; Zhang, Qiuju; Sun, Yilin

doi:10.1016/j.rcim.2018.07.002

Cited by 71 publications

(29 citation statements)

References 29 publications

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“…In our preliminary work [11], the MDH model with five parameters is used for the robot kinematic modelling, which can describe all geometric errors continuously. e Staubli RX160L robot is a 6-DOF serial robot with six rotational joints and can be regarded as a typical representative of industrial robots (see Figure 1(a)), and the kinematic model of this robot is shown in Figure 1(b), which defines the seven link frames associated with the robot.…”

Section: Parameter Optimisation Methods For the Calibration Modelmentioning

confidence: 99%

“…Moreover, the original data acquisition used for DNN model training is vital in realising the exact regression prediction of the model, which plays a decisive role in the predictive capacity of the model. e measurement configurations utilised in this work for 6-DOF series robots, in accordance with the distribution characteristics of the robot's nonlinear errors and the observability index O 1 [11], are shown in Figure 2. Using the optimised configurations with 46 groups of different orientations (in each configuration, a set of position points with uniform grid distribution in the whole workspace of the robot) can help achieve the robot's overall acquisition of the nonlinear errors.…”

Section: Dnn-based Regression Prediction Methods For the Nonlinear Errorsmentioning

confidence: 99%

“…To collect the robot measurement positions for the geometric parameter identification, 90 measurement positions are selected by the intelligent selection algorithm of optimal measurement poses [11]. In this experiment, the threefold cross-validation method is applied to evaluate the generalisation performance of the robot calibration model with different geometric error parameters.…”

Section: Performance Of the Improved Calibration Methodmentioning

confidence: 99%

“…Robot calibration can be divided into robot kinematic calibration and nonkinematic calibration [9][10][11]. e latter mainly includes the identification of structural robot deformation errors caused by the change of temperature [12], the link self-gravity of robots, and the change of external payload [13][14][15][16][17][18], as well as the calibration of dynamic parameters [19][20][21][22].…”

Section: Introductionmentioning

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: Parameter Optimisation Methods For the Calibration Modelmentioning

confidence: 99%

Section: Dnn-based Regression Prediction Methods For the Nonlinear Errorsmentioning

confidence: 99%

Section: Performance Of the Improved Calibration Methodmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

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

Self Cite

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“…But people's demand for energy will make wind turbines work more frequently, which may increase the rate of ice accumulation on the blades. Therefore, it is necessary to make the anti-icing and deicing technology more intelligent in the future, 117 such as the use of intelligent robots which is a detection system that automatically recognizes and processes targets [118][119][120] and it can improve the efficiency of anti-icing and de-icing. 121 Because the sensor is to be installed at the tip of the blade in the wind blade ice detection system, the problem of information transmission between the sensor and the control center should be emphasized.…”

Section: Future Workmentioning

confidence: 99%

A review on ice detection technology and ice elimination technology for wind turbine

et al. 2019

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Blade icing can affect wind turbines to generate electricity. In severe cases, 30% of power generation is lost in a year, and safety problems in the vicinity of wind power plants are also caused. Researchers have designed anti-icing and de-icing technologies to reduce these effects, and excellent ice-detecting devices are a prerequisite for using anti-icing and de-icing technologies. Ultrasonic attenuation technology can effectively and reliably detect the presence of ice without affecting the aerodynamic performance of the blade, providing a reliable guarantee for anti-icing and de-icing systems. Deicing and anti-icing systems are divided into active and passive, active heating blades are still the most effective anti-icing and de-icing methods, but their energy consumption is too high. Although there are many existing de-icing methods, there are not many practical uses. This article introduces them separately and lists their advantages and disadvantages. The use of ultrasonic anti-icing and de-icing is an economical and reliable means that has been proven to be used for anti-icing and de-icing of blades. However, under normal circumstances, a single anti-icing de-icing system cannot completely solve the problem of icing of the blades. This paper suggests using both ultrasonic and hydrophobic coatings to cope with more icing conditions. K E Y W O R D Santi-icing and deicing technology, fan blade, hydrophobic coating, ice detection technology, ultrasonic deicing | INTRODUCTIONWith the rapid development of the world economy, lots of countries are increasingly demanding energy resources. Owing to release a lot of greenhouse gases, chemicals and toxins substances from the combustion of the fossil fuels such as coal and oil, 1 People began to look for renewable energy to provide energy consumption, such as wind energy, 2-4 hydrogen energy, 5-7 solar energy, 8-10 biogas and biomass energy. 11-15 With the wind power growing rapidly, generate electricity by using wind turbines is economical and environmentally friendly. 16 As can be seen in Figure 1, China's total installed capacity of wind turbines in 2016 is much higher than in other countries.China has the largest wind power market in the country, and the installed capacity of wind power is growing steadily year by year. The high density of air is conducive to the development of wind energy resources in cold regions. Figure 2 shows wind resource changes in different seasons. The wind speed from June to August is significantly lower than other months. There are also data showing that wind resources in cold regions are 10% higher than other regions. 17,18

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Optimizing Robot Positioning Accuracy with Kinematic Calibration and Deflection Estimation

Žlajpah

Petrič

2023

Mechanisms and Machine Science

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Non-kinematic calibration of industrial robots using a rigid–flexible coupling error model and a full pose measurement method

Cited by 71 publications

References 29 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 review on ice detection technology and ice elimination technology for wind turbine

Optimizing Robot Positioning Accuracy with Kinematic Calibration and Deflection Estimation

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