Robot Control Using Alternative Trajectories Based on Inverse Errors in the Workspace

Abstract

It is easy to realize that most robots do not move to the desired endpoint (Tool Center Point (TCP)) using high-resolution noncontact instrumentation because of manufacturing and assembly errors, transmission system errors, and mechanical wear. This paper presents a robot calibration solution by changing the endpoint trajectories while maintaining the robot’s control system and device usages. Two independent systems to measure the endpoint positions, the robot encoder and a noncontact measuring system with a high-resolution camera, are used to determine the endpoint errors. A new trajectory based on the measured errors will be built to replace the original trajectory. The results show that the proposed method can significantly reduce errors; moreover, this is a low-cost solution and easy to apply in practice and calibration can be done cyclically. The only requirement for this method is a noncontact measuring device with high-resolution and located independently with the robot in calibration.

Precision Denavit–Hartenberg Parameter Calibration for Industrial Robots Using a Laser Tracker System and Intelligent Optimization Approaches

“…Non-parametric robot calibration techniques include bilinear and fuzzy interpolation methods as well as neural network approaches. The 3D position calibration using non-parametric approaches with different non-contact metrology equipment such as the Leica SMART310 laser tracker, Leica AT960, and Leica AT960-MR has already been performed for a PA10 robot arm, IRB1410, and a collaborative industrial robot, respectively [ 20 , 21 , 22 ]. A similar approach is used in [ 15 , 20 ] for the calibration purpose of a Hyundai HH800 robot, a heavy duty industrial robot, using a laser tracker system.…”

Intelligent Static Calibration of Industrial Robots using Artificial Bee Colony Algorithm

“…Artificial neural networks have already been used to calibrate industrial robot FKs. The calibration of PA10 robot arm using neural networks with feedback data gathered from a Leica SMART310 [3] as well as neural networks for the calibration purpose of IRB1410 and a collaborative industrial robot using Leica AT960 and Leica AT960-MR have already existed in literature [4,5]. Similarly, the calibration of Hyundai HH800 robot, a heavy duty industrial robot, using a laser tracker system [3,6] is done using artificial neural network approaches.…”

Оценка Уровня Автоматизации Производственных Процессов На Промышленных Предприятиях В Российских Регионах

“…Особенно большое внимание уделяется технологиям, имитирующим человеческие действия для целей автоматизации. При этом используются автоматизированные линии и комплексы [Svensson et al, 2007;Lee et al, 2021;Enzi, Sardar, 2022], а также применяются различные модификации роботов [DeBacker et al, 2018;Cheng et al, 2019;Evjemo et al, 2020;Duong et al, 2021]. Вторым направлением автоматизации производственных процессов является использование технологий радиочастотной идентификации (РЧИ).…”