Research of Calibration Method for Industrial Robot Based on Error Model of Position

Chen, Tianyan; Lin, Jinsong; Wu, D. William; Wu, Haibin

doi:10.3390/app11031287

Cited by 21 publications

(15 citation statements)

References 16 publications

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“…Most calibration methods compare the taught point positions of a robot with measurements relating the end-effector to an external 3D measuring device such as a laser tracker [ 21 , 22 , 23 , 24 , 25 , 26 ], theodolite measurement devices [ 27 ] or coordinate measuring machines (CMM) [ 28 , 29 ]. These are known as open-loop calibration techniques [ 30 ].…”

Section: Existing Methodologies For Kinematic Calibrationmentioning

confidence: 99%

Fast Kinematic Re-Calibration for Industrial Robot Arms

Kana

Gurnani

Ramanathan

et al. 2022

Sensors

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Accurate kinematic modelling is pivotal in the safe and reliable execution of both contact and non-contact robotic applications. The kinematic models provided by robot manufacturers are valid only under ideal conditions and it is necessary to account for the manufacturing errors, particularly the joint offsets introduced during the assembling stages, which is identified as the underlying problem for position inaccuracy in more than 90% of the situations. This work was motivated by a very practical need, namely the discrepancy in terms of end-effector kinematics as computed by factory-calibrated internal controller and the nominal kinematic model as per robot datasheet. Even though the problem of robot calibration is not new, the focus is generally on the deployment of external measurement devices (for open loop calibration) or mechanical fixtures (for closed loop calibration). On the other hand, we use the factory-calibrated controller as an ‘oracle’ for our fast-recalibration approach. This allows extracting calibrated intrinsic parameters (e.g., link lengths) otherwise not directly available from the ‘oracle’, for use in ad-hoc control strategies. In this process, we minimize the kinematic mismatch between the ideal and the factory-calibrated robot models for a Kinova Gen3 ultra-lightweight robot by compensating for the joint zero position error and the possible variations in the link lengths. Experimental analysis has been presented to validate the proposed method, followed by the error comparison between the calibrated and un-calibrated models over training and test sets.

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Section: Existing Methodologies For Kinematic Calibrationmentioning

confidence: 99%

Fast Kinematic Re-Calibration for Industrial Robot Arms

Kana

Gurnani

Ramanathan

et al. 2022

Sensors

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“…As shown in Figure 2, the motion coordinate fO i ; i i , j i , k i g (i=1, 2, ., 6) is established on the six revolute pairs respectively. The vector equation from coordinate frame i + 1 to coordinate frame i can be expressed as equation (6). According to the kinematics model, in the coordinate frame fO i ; i i , j i , k i g, the trajectory of the end of the link 6 can be expressed as follows:…”

Section: Kinematics Model Of 6r Serial Robotmentioning

confidence: 99%

“…2,3 In order to improve the absolute positioning accuracy, it is necessary to compensate the kinematic parameters. [4][5][6][7][8] A kinematic model must first be established for compensation. The most commonly used kinematic model are DH model.…”

Section: Introductionmentioning

confidence: 99%

A novel kinematic model and its compensation approach for structural parameter of rotating joints series robot

Ming

Sun

Feng

et al. 2022

Advances in Mechanical Engineering

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The pose accuracy is important performance index of industrial robot. In order to improve the pose accuracy, it is necessary to compensate the kinematic parameters of the robot. A novel approach for kinematic parameter compensation of robot based on the parameter solving of the ruled surface model is developed by establishing a model containing link error and kinematic pair error. The fitting axis of each joint is obtained by fitting the discrete points. Then, the fitting axes of the adjacent joints is used to identify the link errors and the link errors are compensated. This approach has been tested and verified on the LR7-710 robot. The test results show that the position error of the arc trajectory is reduced from 0.4580 to 0.0801 mm.

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“…Although the structure of multiaxis and multilink makes operations more convenient, they further magnify the uncertainty of the ontology, leading to the error accumulation problem becoming more prominent. Since errors universally exist in the manufacturing, assembly, and joint rotation processes [4,5], the actual pose of the end-effector may differ from the predetermined one where the precision is in perfect condition. erefore, kinematic reliability, which is widely used in mechanical structures, is proposed as a method of uncertainty evaluation to quantify the impact of multiple factors on accuracy.…”

Section: Introductionmentioning

confidence: 99%

Kinematic Reliability Analysis of a 7-DOF Redundant Robot

Ding

et al. 2022

Journal of Robotics

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The kinematic reliability of robots, defined as the probability that the end-effector falls inside the specified safe boundary, is of great significance in predicting the accuracy achieved in reality. This work selects the 7 degrees-of-freedom (7-DOF) redundant robot as an example to conduct reliability analysis by utilizing the envelope method against time-related issues in this work. Since variables in industrial robots are very small relative to their means, the motion error functions are commonly linearized by the first-order Taylor’s formula to simplify calculation, and the failure models in all directions and attitude angles are then established through the probability method over the entire input interval. As a result, the actual accuracy of the robot in each pose component will be displayed, instead of merely considering the position error like other scholars. The principle of the proposed method is to transform a time-dependent problem into a time-independent one with the help of the failure extreme points and endpoints, so as to enhance the operation efficiency under the premise of ensuring accuracy. Finally, the simulation results verify that the relative error of the envelope method is less than 6.0% compared with that of the Monte Carlo simulation method, and the computational efficiency is higher than that of the Monte Carlo method, which demonstrates that the envelope method has better comprehensive performance.

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Research of Calibration Method for Industrial Robot Based on Error Model of Position

Cited by 21 publications

References 16 publications

Fast Kinematic Re-Calibration for Industrial Robot Arms

Fast Kinematic Re-Calibration for Industrial Robot Arms

A novel kinematic model and its compensation approach for structural parameter of rotating joints series robot

Kinematic Reliability Analysis of a 7-DOF Redundant Robot

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