Optimal Kinematic Calibration of Robots Based on Maximum Positioning-Error Estimation (Theory and Application to a Parallel-Mechanism Pipe Bender)

Imoto, Junichi; Takeda, Yukio; Saito, Hidenobu; Ichiryu, Ken

doi:10.1007/978-3-642-01947-0_17

Cited by 11 publications

(8 citation statements)

References 8 publications

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“…It evaluates the ability to compensate the compliance errors for given test pose. Similar approach for geometrical calibration has been used in [25].…”

Section: Test-pose Based Approach For Calibration Of Elastostatic Parmentioning

confidence: 99%

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Optimal Selection of Measurement Configurations for Stiffness Model Calibration of Anthropomorphic Manipulators

Klimchik

Pashkevich

et al. 2012

AMM

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The paper focuses on the calibration of elastostatic parameters of spatial anthropomorphic robots. It proposes a new strategy for optimal selection of the measurement configurations that essentially increases the efficiency of robot calibration. This strategy is based on the concept of the robot test-pose and ensures the best compliance error compensation for the test configuration. The advantages of the proposed approach and its suitability for practical applications are illustrated by numerical examples, which deal with calibration of elastostatic parameters of a 3 degrees of freedom anthropomorphic manipulator with rigid links and compliant actuated joints.

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“…It evaluates the ability to compensate the compliance errors for given test pose. Similar approach for geometrical calibration has been used in [25].…”

Section: Test-pose Based Approach For Calibration Of Elastostatic Parmentioning

confidence: 99%

“…where Ci l and Si l can be computed similar to (19). So, the information matrix can be computed as (25) where m is the number of experiments and 11 22 33 23 ,…”

Section: Elastostatic Parameters Calibration For An Anthropomorphic Mmentioning

confidence: 99%

Optimal Selection of Measurement Configurations for Stiffness Model Calibration of Anthropomorphic Manipulators

Klimchik

Pashkevich

et al. 2012

AMM

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“…The concept of the manipulator test pose [8] is introduced in this section for the case when the machining configuration does not have significant changes (in pick and place application and machining of small trajectories, for instance). In this particular case, it is assumed that the quality of the calibration is evaluated for the so-called test configuration.…”

Section: Performance Measure Based On a Single Test Posementioning

confidence: 99%

Industry-Oriented Performance Measures for Design of Robot Calibration Experiment

Wu¹,

Klimchik²,

Pashkevich³

et al. 2012

New Trends in Mechanism and Machine Science

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Abstract. The paper focuses on the accuracy improvement of geometric and elasto-static calibration of industrial robots. It proposes industry-oriented performance measures for the calibration experiment design. They are based on the concept of manipulator test-pose and referred to the end-effector location accuracy after application of the error compensation algorithm, which implements the identified parameters. This approach allows the users to define optimal measurement configurations for robot calibration for given work piece location and machining forces/torques. These performance measures are suitable for comparing the calibration plans for both simple and complex trajectories to be performed. The advantages of the developed techniques are illustrated by an example that deals with machining using robotic manipulator.

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“…Xu et al, (2003) proposed a general kinematics modeling method for the robot structural error analysis. Based on a linear relationship between output errors and measured parameter errors, J Imoto et al (2009) proposed an analytical method to estimate output position errors and obtain error evaluation indicators after calibrating to optimize the kinematics calibration conditions. Santolaria et al, (2012) analyzed the uncertainty of calibration results by using circle point analysis in the calibration process of the robot based on the Monte Carlo method.…”

Section: Introductionmentioning

confidence: 99%

Positional Accuracy Analysis of the Polishing Robot Based on Product-of-exponential Formulas

2016

Revista de la Facultad de Ingeniería

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In order to establish the relationship between error sources and the position errors of the polishing robot end-effector, this work has developed a kinematics model with geometric errors of the polishing robot based on product-of-exponential (POE) formulas. The error spinors can be obtained by determining the geometric relationship of error sources, which result in poor positional accuracy of the robot end-effector. The process of positional accuracy analysis was fully carried out by introducing error spinors into the kinematics model to resolve the two problems. According to the geometric tolerances, error spinors were established describing the geometric errors as one of the components in the actual kinematics model. Then, a significant impact on the end-effector position error is provided by the further positional accuracy analysis process to make a precision reference for the proposed optimization program. The results show that the structural errors and transmission errors are the main factors in the robot static positional accuracy, where the structural errors are systematic errors that can be reduced or compensated for by the precision design, and transmission errors can be resolved by the latter calibrate program.

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Optimal Kinematic Calibration of Robots Based on Maximum Positioning-Error Estimation (Theory and Application to a Parallel-Mechanism Pipe Bender)

Cited by 11 publications

References 8 publications

Optimal Selection of Measurement Configurations for Stiffness Model Calibration of Anthropomorphic Manipulators

Optimal Selection of Measurement Configurations for Stiffness Model Calibration of Anthropomorphic Manipulators

Industry-Oriented Performance Measures for Design of Robot Calibration Experiment

Positional Accuracy Analysis of the Polishing Robot Based on Product-of-exponential Formulas

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