Rotation Error Modeling and Identification for Robot Kinematic Calibration by Circle Point Method

Abstract

Screw axis measurement methods obtain a precise identification of the physical reality of the industrial robots' geometry. However, these methods are in a clear disadvantage compared to mathematical optimisation processes for kinematical parameters. That's because mathematical processes obtain kinematical parameters which best reduce the robot errors, despite not necessarily representing the real geometry of the robot. This paper takes the next step at the identification of a robot's movement from the identification of its real kinematical parameters for the later study of every articulation's rotation. We then obtain a combination of real kinematic and dynamic parameters which describe the robot's movement, improving its precision with a physical understanding of the errors.

Prediction and evaluation of fatigue life considering material parameters distribution characteristic

“…As a result, it may result in various inaccuracies during the testing. The error circle can be used to assess the correctness and reliability of data and mitigate the impact of inaccuracy (Santolaria et al. , 2014).…”

Inverse kinematic solution of 6R robot manipulators based on screw theory and the Paden–Kahan subproblem

“…However, this model suffers from singularity when the adjacent joint axes are parallel or close to parallel. [3][4][5][6][7][8] This singularity refers to the slight deviation from the parallel joint axes, which causes significant changes to the parameters of the model. 9 It should be noted that d i can't be determined when the adjacent revolute joint axes are parallel.…”

“…The main deficiency is that the kinematic parameters of the D-H model employed for calibration are discontinuous, leading to singularity when the adjacent joint axes of robots are parallel or close to parallel. [3][4][5][6][7][8] As a result, the actual parameters of this model are difficult to identify, and it cannot be considered as a suitable model for kinematic calibration. 9 With the aim of addressing the problem of singularity, several other kinematic models have been proposed, such as the S-model, 10 the complete and parametrically continuous (CPC) model, [11][12][13] and the zero reference position model.…”

The Static Unbalance Analysis and Its Measurement System For Gimbals Axes of an Inertial Stabilization Platform

“…The motion of a rigid body can be separated into the translational and the rotational motions by its centroid. Therefore, the energy of the single disk can be written as follows [20][21][22][23][24][25] …”