Research on Robot Calibration Based on Laser Tracker

Huangfu, Yabo; Hang, Lubin; Cheng, Wushan; Yu, Liang; Shen, Chengwei; Wang, Jun; Wei, Qin; Wang, Yan

doi:10.1007/978-981-10-2875-5_117

Cited by 6 publications

(3 citation statements)

References 11 publications

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“…However, although the methods mentioned above give us a lot of selections and approaches to calibrate and compensate the structural parameters of the industrial robot, but they nearly have the same characteristic that almost all the methods previously mentioned rely on higher precise apparatus especially laser trackers 14,15 which are extreme expensive and affected easily by the external environment, resulting in a relative high cost and nondeterminacy. Moreover, by using lots of precise instruments, the calibration and compensation procedures of the methods are complicated and difficult for us to operate sometimes, which is their defect and bottleneck.…”

Section: Introductionmentioning

confidence: 99%

Structural parameters identification for industrial robot using a hybrid algorithm

Liu

Xia

Zhong

et al. 2022

International Journal of Advanced Robotic Systems

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To improve the precision and reduce the movement uncertainty of the industrial robot, a novel hybrid optimization algorithm which combines adaptive genetic algorithm with simulated annealing algorithm is proposed in this article. First, for the sake of increasing the global exploring ability of relevant individuals, the adaptive crossover and mutation operator are used in the phase of adaptive genetic algorithm. If the population optimized by adaptive genetic algorithm is trapped in the local optimal area and simultaneously meets the transformation rule, then it is consequently optimized by simulated annealing to enhance the population diversity and hunt for a better solution so that the probability of finding the global optimal solution is greatly increased. Then, corresponding experiments based on single point repeatability are conducted to acquire data and identify the structural parameters of the industrial robot. Moreover, the single point repeatability test and length test are all implemented at the same time to verify the effectiveness of the proposed method. At last, the result reveals that the proposed method is effective to identify the real structural parameters of the industrial robot, thus enormously decreasing the single point repeatability and length deviation at the same time, which extremely increases the precision and decreases the movement uncertainty of the industrial robot.

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Section: Introductionmentioning

confidence: 99%

Structural parameters identification for industrial robot using a hybrid algorithm

Liu

Xia

Zhong

et al. 2022

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

show abstract

“…The accuracy of measurement has a great impact on the calibration. Various devices have been used to perform the calibration experiments on parallel manipulators, such as the ball and stick system [17], the magnetic processing ball [18], vision [19], the laser tracker [20], etc. Since there are multiple passive joints in the 3T1R parallel manipulator, installation of sensors on every passive joint for calibration purposes will be costly.…”

Section: Introductionmentioning

confidence: 99%

A Kinematic Calibration Method of a 3T1R 4-Degree-of-Freedom Symmetrical Parallel Manipulator

Zhang

Chen

et al. 2020

Symmetry

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This paper proposes a method for kinematic calibration of a 3T1R, 4-degree-of-freedom symmetrical parallel manipulator driven by two pairs of linear actuators. The kinematic model of the individual branched chain is established by using the local product of exponentials formula. Based on this model, the model of the end effector’s pose error is established from a pair of symmetrical branched chains, and a recursive least square method is applied for the parameter identification. By installing built-in sensors at the passive joints, a calibration method for a serial manipulator is eventually extended to this parallel manipulator. Specifically, the sensor installed at the second revolute joint of each branched chain is saved, replaced by numerical calculation according to kinematic constraints. The simulation results validate the effectiveness of the proposed kinematic error modeling and identification methods. The procedure for pre-processing compensation on this 3T1R parallel manipulator is eventually given to improve its absolute positioning accuracy, using the inverse of the calibrated kinematic model.

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“…As mentioned previously, many recent researches focus on the methods of calibration with the information of the end-effector's positions and poses acquired by precision instruments especially laser trackers (Huangfu et al, 2017;Nubiola and Bonev, 2013), the cost of which is quite high. Furthermore, the results of the other methods, which do not require the information of the end-effector's positions and poses, are not reliable enough (Gao et al, 2017).…”

Section: Introductionmentioning

confidence: 99%

Kinematic calibration for industrial robots using articulated arm coordinate machines

Gao

Zhang

San

et al. 2019

IJMIC

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To improve the position accuracy of industrial robots, a novel kinematic model and calibration method using articulated arm coordinate machines (AACMM) is proposed in this paper. The end of the industrial robot is connected to the probe of an AACMM, thus forming a closed kinematic chain. The coordinate systems of the double arms were established, based on which the mapping of the joint angles and the position of the end were derived as well as the nominal value of the kinematic parameters of the industrial robot. A two-step search method was presented for kinematic parameter identification of the industrial robot. The identified kinematic parameters were used to compensate the errors of the nominal kinematic parameters in the controller of the industrial robot. Experiments were conducted to verify the calibration method, which show that after calibration, the average position errors of the industrial robot were decreased greatly.

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Research on Robot Calibration Based on Laser Tracker

Cited by 6 publications

References 11 publications

Structural parameters identification for industrial robot using a hybrid algorithm

Structural parameters identification for industrial robot using a hybrid algorithm

A Kinematic Calibration Method of a 3T1R 4-Degree-of-Freedom Symmetrical Parallel Manipulator

Kinematic calibration for industrial robots using articulated arm coordinate machines

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