Kinematic Calibration for Industrial Robot Using a Telescoping Ballbar

2020 ◽  
pp. 285-295
Author(s):  
Zeming Wu ◽  
Peng Guo ◽  
Yang Zhang ◽  
Limin Zhu
Keyword(s):  
Industrial Robot ◽  
Kinematic Calibration

Comparison of two calibration methods for a small industrial robot based on an optical CMM and a laser tracker

Robotica ◽  
2013 ◽  
Vol 32 (3) ◽  
pp. 447-466 ◽  
Author(s):  
Albert Nubiola ◽  
Mohamed Slamani ◽  
Ahmed Joubair ◽  
Ilian A. Bonev
Keyword(s):  
Industrial Robot ◽  
Laser Tracker ◽  
Calibration Model ◽  
Kinematic Calibration ◽  
Absolute Accuracy ◽  
Parameter Calibration ◽  
End Effector ◽  
Coordinate Measurement ◽  
Measurement Systems ◽  
Calibration Methods

SUMMARYThe absolute accuracy of a small industrial robot is improved using a 30-parameter calibration model. The error model takes into account a full kinematic calibration and five compliance parameters related to the stiffness in joints 2, 3, 4, 5, and 6. The linearization of the Jacobian is performed to iteratively find the modeled error parameters. Two coordinate measurement systems are used independently: a laser tracker and an optical CMM. An optimized end-effector is developed specifically for each measurement system. The robot is calibrated using fewer than 50 configurations and the calibration efficiency validated in 1000 configurations using either the laser tracker or the optical CMM. A telescopic ballbar is also used for validation. The results show that the optical CMM yields slightly better results, even when used with the simple triangular plate end-effector that was developed mainly for the laser tracker.

A distance error based industrial robot kinematic calibration method

2014 ◽  
Vol 41 (5) ◽  
pp. 439-446 ◽  
Author(s):  
Wang Zhenhua ◽  
Xu Hui ◽  
Chen Guodong ◽  
Sun Rongchuan ◽  
Lining Sun
Keyword(s):  
Industrial Robot ◽  
Calibration Method ◽  
Calibration Model ◽  
Kinematic Calibration ◽  
Absolute Position ◽  
Positioning Accuracy ◽  
Content Type ◽  
Distance Error ◽  
Position Accuracy ◽  
The Absolute

Purpose – The purpose of this paper is to present a distance accuracy-based industrial robot kinematic calibration model. Nowadays, the repeatability of the industrial robot is high, while the absolute positioning accuracy and distance accuracy are low. Many factors affect the absolute positioning accuracy and distance accuracy, and the calibration method of the industrial robot is an important factor. When the traditional calibration methods are applied on the industrial robot, the accumulative error will be involved according to the transformation between the measurement coordinate and the robot base coordinate. Design/methodology/approach – In this manuscript, a distance accuracy-based industrial robot kinematic calibration model is proposed. First, a simplified kinematic model of the robot by using the modified Denavit–Hartenberg (MDH) method is introduced, then the proposed distance error-based calibration model is presented; the experiment is set up in the next section. Findings – The experimental results show that the proposed calibration model based on MDH and distance error can improve the distance accuracy and absolute position accuracy dramatically. Originality/value – The proposed calibration model based on MDH and distance error can improve the distance accuracy and absolute position accuracy dramatically.

An improved minimal error model for the robotic kinematic calibration based on the POE formula

Robotica ◽  
2021 ◽  
pp. 1-20
Author(s):  
Ruiqing Luo ◽  
Wenbin Gao ◽  
Qi Huang ◽  
Yi Zhang
Keyword(s):  
Least Squares Method ◽  
Industrial Robot ◽  
Kinematic Model ◽  
Error Model ◽  
Coordinate Frame ◽  
Exponential Map ◽  
Kinematic Calibration ◽  
Minimal Error ◽  
Serial Robots ◽  
Calibration Algorithm

Summary The conventional product of exponentials $\left(\rm POE\right)$ -based methods dissatisfy the parametric minimality for the kinematic calibration of serial robots due to overlooking the magnitude and pitch constraints. Thus, the minimal kinematic model is presented to solve this problem, which can be developed further. This paper puts forward an improved algorithm for the minimal parameter calibration. An actual kinematic model with the minimal parameters $\left(\rm MP\right)$ is constructed according to the geometric properties of actual joint twists in the auxiliary frames established on the basis of the nominal joint axes. Then, the initial pose error is defined in the tool coordinate frame, which is expressed as the exponential map of the twist, and all twist descriptions are unified, so as to give a unified kinematic model in mathematics. By differentiating the kinematic model, a minimal error model is derived in explicit form. Subsequently, we propose a novel parameter identification method, which identifies the orientation error and position error parameters separately by the iterative least-squares method and updates the MP uniformly. Finally, the simulations and experiments on the different serial robots are conducted to verify the correctness and effectiveness of the proposed algorithm. The simulation results show our calibration algorithm outperforms the existing ones in the accuracy aspect, and the experiment result shows that the absolute pose accuracy of the UR5 industrial robot is upgraded about 9 times under a statistics sense after the calibration.

scholarly journals Kinematic Calibration of Industrial Robots Based on Distance Information Using a Hybrid Identification Method

Complexity ◽  
2021 ◽  
Vol 2021 ◽  
pp. 1-10
Author(s):  
Guanbin Gao ◽  
Yuan Li ◽  
Fei Liu ◽  
Shichang Han
Keyword(s):  
Industrial Robot ◽  
Kinematic Model ◽  
Error Model ◽  
Industrial Robots ◽  
Kinematic Calibration ◽  
Kinematic Parameters ◽  
Distance Information ◽  
End Effector ◽  
Hybrid Identification ◽  
Identification Method

To improve the positioning accuracy of industrial robots and avoid using the coordinates of the end effector, a novel kinematic calibration method based on the distance information is proposed. The kinematic model of an industrial robot is established. The relationship between the moving distance of the end effector and the kinematic parameters is analyzed. Based on the results of the analysis and the kinematic model of the robot, the error model with displacements as the reference is built, which is linearized for the convenience of the following identification. The singular value decomposition (SVD) is used to eliminate the redundant parameters of the error model. To solve the problem that traditional optimization algorithms are easily affected by data noise in high dimension identification, a novel extended Kalman filter (EKF) and regularized particle filter (RPF) hybrid identification method is presented. EKF is used in the preidentification of the linearized error model. With the preidentification results as the initial parameters, RPF is used to identify the kinematic parameters of the linearized error model. Simulations are carried out to validate the effectiveness of the proposed method, which shows that the method can identify the error of the parameters and after compensation the accuracy of the robot is improved.

A novel robot kinematic calibration method based on common perpendicular line model

2018 ◽  
Vol 45 (6) ◽  
pp. 766-775 ◽  
Author(s):  
Chen Shen ◽  
Youping Chen ◽  
Bing Chen ◽  
Yu Qiao
Keyword(s):  
Industrial Robot ◽  
Calibration Method ◽  
Industrial Robots ◽  
Kinematic Calibration ◽  
The Novel ◽  
Perpendicular Line ◽  
Content Type ◽  
Novel Method ◽  
Two Parameters ◽  
Independent Parameters

Purpose This paper aims to propose a novel robot kinematic calibration method based on the common perpendicular line (CPL) model to improve the absolute accuracy of industrial robots. Design/methodology/approach The deviation between the nominal and actual twists is considered the CPL transformation, which includes the rotation about the CPL and the translation along the CPL. By using the invariance of the reciprocal product of the two spatial lines, the previous deviation was analyzed in the neighbor space of the base frame origin. In this space, the line vector of the CPL contained only four independent parameters: two orientation elements and two moment elements. Thus, the CPL model has four independent parameters for the revolute joint and two parameters for the prismatic joint. Findings By simulations and experiment conducted on a SCARA robot and a 6-DOF PUMA robot, the effectiveness of the novel method for calibration of industrial robot is validated. Originality/value The CPL model avoided the normalization and orthogonalization in the iterative identification procedure. Therefore, identifying the CPL model was not only simpler but also more accurate than that of the traditional model. In addition, the results of the CPL transformation strictly conformed to the constraints of the twist.

scholarly journals Simultaneous kinematic calibration, localization, and mapping (SKCLAM) for industrial robot manipulators

2019 ◽  
Vol 33 (23) ◽  
pp. 1225-1234 ◽  
Author(s):  
Jinghui Li ◽  
Akitoshi Ito ◽  
Hiroyuki Yaguchi ◽  
Yusuke Maeda
Keyword(s):  
Robot Manipulators ◽  
Industrial Robot ◽  
Kinematic Calibration ◽  
Localization And Mapping

Design of spline surface vacuum gripper for pick and place robotic arms

2020 ◽  
Vol 4 (2) ◽  
pp. 48-55
Author(s):  
A. S. Jamaludin ◽  
M. N. M. Razali ◽  
N. Jasman ◽  
A. N. A. Ghafar ◽  
M. A. Hadi
Keyword(s):  
Cycle Time ◽  
Industrial Robot ◽  
Annealing Process ◽  
Vacuum Suction ◽  
Robotic Arms ◽  
Custom Made ◽  
Pick And Place ◽  
Manufacturing Procedure ◽  
Production Flexibility ◽  
The Impact

The gripper is the most important part in an industrial robot. It is related with the environment around the robot. Today, the industrial robot grippers have to be tuned and custom made for each application by engineers, by searching to get the desired repeatability and behaviour. Vacuum suction is one of the grippers in Watch Case Press Production (WCPP) and a mechanism to improve the efficiency of the manufacturing procedure. Pick and place are the important process for the annealing process. Thus, by implementing vacuum suction gripper, the process of pick and place can be improved. The purpose of vacuum gripper other than design vacuum suction mechanism is to compare the effectiveness of vacuum suction gripper with the conventional pick and place gripper. Vacuum suction gripper is a mechanism to transport part and which later sequencing, eliminating and reducing the activities required to complete the process. Throughout this study, the process pick and place became more effective, the impact on the production of annealing process is faster. The vacuum suction gripper can pick all part at the production which will lower the loss of the productivity. In conclusion, vacuum suction gripper reduces the cycle time about 20%. Vacuum suction gripper can help lower the cycle time of a machine and allow more frequent process in order to increase the production flexibility.

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