Nongeometric error identification and compensation for robotic system by inverse calibration

Gong, Chunhe; Yuan, Jinwei; Ni, Jun

doi:10.1016/s0890-6955(00)00023-7

Cited by 178 publications

(83 citation statements)

References 11 publications

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“…Gong et al also suggest that non-geometric robot errors should also be offset by accounting for thermal variations and joint flexibility under load [32]. Thermal concerns are supported by Kamrani et al [33].…”

Section: Introductionmentioning

confidence: 99%

Achievable tolerances in robotic feature machining operations using a low-cost hexapod

Barnfather

Goodfellow

Abram

2017

Int J Adv Manuf Technol

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Portable robotic machine tools potentially allow feature machining processes to be brought to large parts in various industries, creating an opportunity for capital expenditure and operating cost reduction. However, robots lack the machining capability of conventional equipment, which ultimately results in dimensional errors in parts. This work showcases a low-cost hexapod-based robotic machine tool and presents experimental research conducted to investigate how the widely researched robotic machining challenges, e.g. structural dynamics and kinematics, translate to achievable tolerance ranges in real-world production to highlight currently feasible applications and provide a context for considering technology improvements. Machining trials assess the total dimensional errors in the final part over multiple geometries. A key finding is error variation which is in the sub-millimetre range, although, in some cases, upper tolerance limits < 100 μm are achieved. Practical challenges are also noted. Most significantly, it is demonstrated that dimensional machining error is mainly systematic in nature and therefore that the total error can be dramatically reduced with in situ measurement and compensation. Potential is therefore found to achieve a flexible, highperformance robotic machining capability despite complex and diverse underlying scientific challenges. Overall, the work presented highlights achievable tolerances in lowcost robotic machining and opportunities for improvement, also providing a practical benchmark useful for process selection.

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Section: Introductionmentioning

confidence: 99%

Achievable tolerances in robotic feature machining operations using a low-cost hexapod

Barnfather

Goodfellow

Abram

2017

Int J Adv Manuf Technol

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“…Interesting works have also been performed in the machine-tools community where the positioning stages used are mechanical guiding based on the friction principle and ball screw mechanisms [22][23][24][25][26][27]. It was also established that temperature is a key parameter to guarantee a high positioning accuracy.…”

Section: Introductionmentioning

confidence: 99%

Calibration of Nanopositioning Stages

2015

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Accuracy is one of the most important criteria for the performance evaluation of microand nanorobots or systems. Nanopositioning stages are used to achieve the high positioning resolution and accuracy for a wide and growing scope of applications. However, their positioning accuracy and repeatability are not well known and difficult to guarantee, which induces many drawbacks for many applications. For example, in the mechanical characterisation of biological samples, it is difficult to perform several cycles in a repeatable way so as not to induce negative influences on the study. It also prevents one from controlling accurately a tool with respect to a sample without adding additional sensors for closed loop control. This paper aims at quantifying the positioning repeatability and accuracy based on the ISO 9283:1998 standard, and analyzing factors influencing positioning accuracy onto a case study of 1-DoF (Degree-of-Freedom) nanopositioning stage. The influence of thermal drift is notably quantified. Performances improvement of the nanopositioning stage are then investigated through robot calibration (i.e., open-loop approach). Two models (static and adaptive models) are proposed to compensate for both geometric errors and thermal drift. Validation experiments are conducted over a long period (several days) showing that the accuracy of the stage is improved from typical micrometer range to 400 nm using the static model and even down to 100 nm using the adaptive model. In addition, we extend the 1-DoF calibration to multi-DoF with a case study of a 2-DoF nanopositioning robot. Results demonstrate that the model efficiently improved the 2D accuracy from 1400 nm to 200 nm.

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“…It plays a key role to enhance the reliability of machining. Related research institutions carry out effective research on machine thermal Error compensation technology, and develop advanced thermal compensation method and apparatus [4][5][6][7][8][9][10][11][12][13] (Fig. 1).…”

Section: Introductionmentioning

confidence: 99%

Compensation of Thermal Error of Ram Components on CNC Floor Milling-Boring Machine Tool

Fenglan¹,

Zheng²,

Zhang³

et al. 2015

TOMEJ

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Aim at the error caused by ram assembly deformation of CNC floor milling-boring machine tool under the thermal load, by the coupled thermal field analysis, obtained ten key locations deformation and error of ram components, milling and boring axis, which was found correlated with environment heat, friction heat and cutting heat source, and proposed to control program of thermal error compensation. Used par thermal error compensation method, established the relations between thermal error and compensation values of a fixed position ram assembly, by changing the ram and boring axis elongation thermal error compensation experiments, corrected coefficient of thermal error compensation, and used milling experiments, verified compensation effect of fixed position ram assembly thermal error. Adopt thermal error compensation method which based on temperature sensor, by boring axis reciprocating feed motion experiment, established a function between the ram assembly key points temperature and boring axis thermal error, used the inside compensation device of ram and boring axis, implemented boring axis thermal error compensation.

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Nongeometric error identification and compensation for robotic system by inverse calibration

Cited by 178 publications

References 11 publications

Achievable tolerances in robotic feature machining operations using a low-cost hexapod

Achievable tolerances in robotic feature machining operations using a low-cost hexapod

Calibration of Nanopositioning Stages

Compensation of Thermal Error of Ram Components on CNC Floor Milling-Boring Machine Tool

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