A four-point measurement model for evaluating the pose of industrial robot and its influence factor analysis

2017 ◽  
Vol 44 (3) ◽  
pp. 343-352 ◽  
Author(s):  
Chuangui Yang ◽  
Junwen Wang ◽  
Liang Mi ◽  
Xingbao Liu ◽  
Yangqiu Xia ◽  
...  
Keyword(s):  
Factor Analysis ◽  
Measurement Uncertainty ◽  
Measurement Accuracy ◽  
Influence Factor ◽  
Industrial Robot ◽  
Measurement Model ◽  
Industrial Robots ◽  
Content Type ◽  
Point Measurement ◽  
Proposed Model

Purpose This paper aims to propose a four-point measurement model for directly measuring the pose (i.e. position and orientation) of industrial robot and reducing its calculating error and measurement uncertainty. Design/methodology/approach A four-point measurement model is proposed for directly measuring poses of industrial robots. First, this model consists of a position measurement model and an orientation model gotten by the position of spherically mounted reflector (SMR). Second, an influence factor analysis, simulated by Monte Carlo simulation, is performed to investigate the influence of certain factors on the accuracy and uncertainty. Third, comparisons with the common method are carried out to verify the advantage of this model. Finally, a test is carried out for evaluating the repeatability of five poses of an industrial robot. Findings In this paper, results show that the proposed model is better than the three-SMRs model in measurement accuracy, measurement uncertainty and computational efficiency. Moreover, both measurement accuracy and measurement uncertainty can be improved by using the proposed influence laws of its key parameters on the proposed model. Originality/value The proposed model can measure poses of industrial robots directly, accurately and effectively. Additionally, influence laws of key factors on the accuracy and uncertainty of the proposed model are given to provide some guidelines for improving the performance of the proposed model.

Uncertainty analysis and evaluation of measurement of the positioning repeatability for industrial robots

2018 ◽  
Vol 45 (4) ◽  
pp. 492-504 ◽  
Author(s):  
Yang Chuangui ◽  
Liu Xingbao ◽  
Yue Xiaobin ◽  
Mi Liang ◽  
Wang Junwen ◽  
...  
Keyword(s):  
Probability Distribution Function ◽  
Design Methodology ◽  
Industrial Robot ◽  
Measurement Model ◽  
Measurement Procedure ◽  
Industrial Robots ◽  
Key Factors ◽  
Content Type ◽  
Normal Distributions ◽  
Analysis And Evaluation

PurposeThis paper aims to solve the nonlinear problem in the uncertainty evaluation of the measurement of the positioning repeatability (RP) of industrial robots and provide guidance to restrict the uncertainty of measurement of RP (uRP).Design/methodology/approachFirstly, some uncertain sources existing in the measurement procedure of RP are identified. Secondly, the probability distribution function (PDF) of every source is established on the basis of its measurements. Some spatial combined normal distributions are adopted. Then, a method, based on Monte Carlo method (MCM) and established measurement model, is developed for the estimation ofuRP. Thirdly, some tests are developed for the identification and validation of the selected PDFs of uncertain sources. Afterwards, the proposed method is applied for the evaluation and validation of theuRP. Finally, influence analyses of some key factors are proposed for the quantification of their relative contributions touRP.FindingsResults show that the proposed method can reasonably and objectively estimate theuRPof the selected industrial robot, and changes of the industrial robots’ position and the laser trackers measurement are correlated. Additionally, theuRPof the selected industrial robot can be restricted by using the results of its key factors onuRP.Originality/valueThis paper proposes the spatial combined normal distribution to model the uncertainty of the repeatability of the laser tracker and industrial robot. Meanwhile, the proposed method and influence analyses can be used in estimating and restricting theuRPand thus useful in determining whether the RP of a tested industrial robot meets its requirements.

Uncertainty evaluation of measurement of orientation repeatability for industrial robots

2020 ◽  
Vol 47 (2) ◽  
pp. 207-217
Author(s):  
Yang Chuangui ◽  
Mi Liang ◽  
Liu Xingbao ◽  
Xia Yangqiu ◽  
Qiang Teng ◽  
...  
Keyword(s):  
Monte Carlo ◽  
Linear Problem ◽  
Industrial Robot ◽  
Measurement Model ◽  
Industrial Robots ◽  
Uncertainty Evaluation ◽  
Laser Tracker ◽  
Uncertainty Of Measurement ◽  
Content Type ◽  
Non Linear

Purpose This paper aims to propose a reasonable method to evaluate uncertainty of measurement of industrial robots’ orientation repeatability and solve the non-linear problem existing in its evaluation procedure. Design/methodology/approach Firstly, a measurement model of orientation repeatability, based on laser tracker, is established. Secondly, some factors, influencing the measurement result of orientation repeatability, are identified, and their probability distribution functions are modelled. Thirdly, based on Monte Carlo method, an uncertainty evaluation model and algorithm of measurement of industrial robot’s orientation repeatability are built. Finally, an industrial robot is taken as the research object to validate the rationality of proposed method. Findings Results show that the measurement model of orientation repeatability of industrial robot is non-linear, and the proposed method can reasonably and objectively estimate uncertainty of measurement of industrial robots’ orientation repeatability. Originality/value This paper, based on Monte Carlo method and experimental work, proposes an uncertainty evaluation method of measurement of industrial robots’ orientation repeatability which can solve the non-linear problem and provide a reasonable and objective evaluation. And the stochastic ellipsoid approach is firstly taken to model the repeatability of laser tracker. Additionally, this research is beneficial to decide whether the orientation repeatability of the industrial robot meets its requirements.

Optimization design of drive system for industrial robots based on dynamic performance

2017 ◽  
Vol 44 (6) ◽  
pp. 765-775 ◽  
Author(s):  
LianZheng Ge ◽  
Jian Chen ◽  
Ruifeng Li ◽  
Peidong Liang
Keyword(s):  
Optimization Model ◽  
Optimization Problem ◽  
Industrial Robot ◽  
Dynamic Performance ◽  
System Optimization ◽  
Drive System ◽  
Industrial Robots ◽  
Mixed Integer ◽  
Light Weight ◽  
Content Type

Purpose The global performance of industrial robots partly depends on the properties of drive system consisting of motor inertia, gearbox inertia, etc. This paper aims to deal with the problem of optimization of global dynamic performance for robotic drive system selected from available components. Design/methodology/approach Considering the performance specifications of drive system, an optimization model whose objective function is composed of working efficiency and natural frequency of robots is proposed. Meanwhile, constraints including the rated and peak torque of motor, lifetime of gearbox and light-weight were taken into account. Furthermore, the mapping relationship between discrete optimal design variables and component properties of drive system were presented. The optimization problem with mixed integer variables was solved by a mixed integer-laplace crossover power mutation algorithm. Findings The optimization results show that our optimization model and methods are applicable, and the performances are also greatly promoted without sacrificing any constraints of drive system. Besides, the model fits the overall performance well with respect to light-weight ratio, safety, cost reduction and others. Practical implications The proposed drive system optimization method has been used for a 4-DOF palletizing robot, which has been largely manufactured in a factory. Originality/value This paper focuses on how the simulation-based optimization can be used for the purpose of generating trade-offs between cost, performance and lifetime when designing robotic drive system. An applicable optimization model and method are proposed to handle the dynamic performance optimization problem of a drive system for industrial robot.

Robot hand-eye cooperation based on improved inverse reinforcement learning

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Ning Yu ◽  
Lin Nan ◽  
Tao Ku
Keyword(s):  
Decision Making ◽  
Reinforcement Learning ◽  
Visual Information ◽  
Industrial Robots ◽  
Robot Hand ◽  
Inverse Reinforcement Learning ◽  
Generative Adversarial Network ◽  
Content Type ◽  
Coordination Model ◽  
Proposed Model

Purpose How to make accurate action decisions based on visual information is one of the important research directions of industrial robots. The purpose of this paper is to design a highly optimized hand-eye coordination model of the robot to improve the robots’ on-site decision-making ability. Design/methodology/approach The combination of inverse reinforcement learning (IRL) algorithm and generative adversarial network can effectively reduce the dependence on expert samples and robots can obtain the decision-making performance that the degree of optimization is not lower than or even higher than that of expert samples. Findings The performance of the proposed model is verified in the simulation environment and real scene. By monitoring the reward distribution of the reward function and the trajectory of the robot, the proposed model is compared with other existing methods. The experimental results show that the proposed model has better decision-making performance in the case of less expert data. Originality/value A robot hand-eye cooperation model based on improved IRL is proposed and verified. Empirical investigations on real experiments reveal that overall, the proposed approach tends to improve the real efficiency by more than 10% when compared to alternative hand-eye cooperation methods.

Internet usage, user satisfaction, task-technology fit, and performance impact among public sector employees in Yemen

2017 ◽  
Vol 34 (3) ◽  
pp. 210-241 ◽  
Author(s):  
Osama Isaac ◽  
Zaini Abdullah ◽  
T. Ramayah ◽  
Ahmed M. Mutahar
Keyword(s):  
Factor Analysis ◽  
User Satisfaction ◽  
Positive Impact ◽  
Internet Usage ◽  
Performance Impact ◽  
Content Type ◽  
Actual Usage ◽  
Proposed Model ◽  
Task Technology Fit ◽  
And Performance

Purpose The internet technology becomes an essential tool for individuals, organizations, and nations for growth and prosperity. The purpose of this paper is to integrate the DeLone and McLean IS success model with task-technology fit (TTF) to explain the performance impact of Yemeni Government employees. Design/methodology/approach Questionnaire survey method was used to collect primary data from 530 internet users among employees within all 30 government ministries-institutions in Yemen. The four constructs in the proposed model were measured using existing scales. The data analysis starts with initial exploratory factor analysis, then confirmatory factor analysis and lastly structural equation modeling via AMOS. Findings The results showed that the proposed integrated model fits the data well. Findings of the multivariate analysis demonstrate four main results. First, actual usage has a strong positive impact on user satisfaction, TTF, and performance impact. Second, user satisfaction has a great influence on performance impact. Third, TTF has a strong positive impact on user satisfaction and performance impact. Fourth, both user satisfaction and TTF mediate the relationship between the actual usage and performance impact. Research limitations/implications The public sector in Yemen contains three parts: Yemeni prime minister, Yemeni ministries, and government agencies. This study focuses only on the Yemeni employees among Yemeni ministries; hence the results are not necessarily generalizable. Moreover, there are biases when the researcher measures the actual Internet usage variable through asking a participant about their opinion regarding their usage because these are generally found to differ from the true score of system usage. Practical implications The findings should be very useful for the Yemeni Government in presenting the importance of information technology effects on individual efficiency and effectiveness. Therefore, the information from these findings should encourage and support the formation of future policy at the organizational level and national level. If the government utilizes these findings by setting up strategies to promote internet usage, this may, in turn, improve professional practice, personal development, and quality of working life. Originality/value This paper adds to the existing literature of information systems by combining actual technology usage, user satisfaction, and TTF to predict performance impact within the organizations. Furthermore, this study proposed a second-order model of performance impact in order to increase the power of explaining the output by the model, which contains four first-order constructs: process, knowledge acquisition, communication quality, and decision quality. The predictive power of the proposed model has a higher ability to explain and predict performance impact compared to those obtained from some of the previous studies.

scholarly journals A new joint friction model for parameter identification and sensor-less hand guiding in industrial robots

2020 ◽  
Vol 47 (6) ◽  
pp. 847-857
Author(s):  
Guanghui Liu ◽  
Qiang Li ◽  
Lijin Fang ◽  
Bing Han ◽  
Hualiang Zhang
Keyword(s):  
Industrial Robot ◽  
Angular Displacement ◽  
Weighted Least Squares ◽  
Friction Model ◽  
Industrial Robots ◽  
Model Parameters ◽  
Dynamic Parameters ◽  
Content Type ◽  
Joint Friction ◽  
Six Dof

Purpose The purpose of this paper is to propose a new joint friction model, which can accurately model the real friction, especially in cases with sudden changes in the motion direction. The identification and sensor-less control algorithm are investigated to verify the validity of this model. Design/methodology/approach The proposed friction model is nonlinear and it considers the angular displacement and angular velocity of the joint as a secondary compensation for identification. In the present study, the authors design a pipeline – including a manually designed excitation trajectory, a weighted least squares algorithm for identifying the dynamic parameters and a hand guiding controller for the arm’s direct teaching. Findings Compared with the conventional joint friction model, the proposed method can effectively predict friction factors during the dynamic motion of the arm. Then friction parameters are quantitatively obtained and compared with the proposed friction model and the conventional friction model indirectly. It is found that the average root mean square error of predicted six joints in the proposed method decreases by more than 54%. The arm’s force control with the full torque using the estimated dynamic parameters is qualitatively studied. It is concluded that a light-weight industrial robot can be dragged smoothly by the hand guiding. Practical implications In the present study, a systematic pipeline is proposed for identifying and controlling an industrial arm. The whole procedure has been verified in a commercial six DOF industrial arm. Based on the conducted experiment, it is found that the proposed approach is more accurate in comparison with conventional methods. A hand-guiding demo also illustrates that the proposed approach can provide the industrial arm with the full torque compensation. This essential functionality is widely required in many industrial arms such as kinaesthetic teaching. Originality/value First, a new friction model is proposed. Based on this model, identifying the dynamic parameter is carried out to obtain a set of model parameters of an industrial arm. Finally, a smooth hand guiding control is demonstrated based on the proposed dynamic model.

Predictors for e-government adoption: integrating TAM, TPB, trust and perceived risk

2017 ◽  
Vol 35 (1) ◽  
pp. 2-20 ◽  
Author(s):  
Qijun Xie ◽  
Wei Song ◽  
Xiaobao Peng ◽  
Muhammad Shabbir
Keyword(s):  
Perceived Risk ◽  
Structural Equation ◽  
Measurement Model ◽  
Equation Model ◽  
Theoretical Research ◽  
Stable Model ◽  
Measurement Scales ◽  
Content Type ◽  
Factors Affecting ◽  
Proposed Model

Purpose The present research aims to identify determinants for citizen’ behavioural adoption of e-government, explore relationships among these variables and investigate whether the proposed model can provide a more comprehensive manner to understand the adoption of e-government. Design/methodology/approach First, a survey is administered to collect data, then the Cronbach’s alpha is assessed for internal consistency of measurement scales; second, confirmatory factor analysis is conducted to evaluate the measurement model; finally, a structural equation model is used to test the proposed hypotheses and explore the determinants of e-government adoption. Findings Results indicate that the proposed model is a stable model with powerful explanatory of variation. In addition, some new relationships in the e-government context are found, whose disposition to trust has positive effect on social norms, whereas perceived risk negatively influences perceived behaviour control. Moreover, other key dominants have been investigated. Originality/value The findings have enabled us to better understand factors affecting intention and also provided a solid theoretical research model for future study.

Measuring the success of a performance measurement system in Thai firms

2012 ◽  
Vol 61 (5) ◽  
pp. 548-562 ◽  
Author(s):  
Nopadol Rompho ◽  
Sakun Boon‐itt
Keyword(s):  
Performance Measurement ◽  
Measurement System ◽  
Measurement Model ◽  
The Body ◽  
Performance Measurement System ◽  
Content Type ◽  
Body Of Knowledge ◽  
Proposed Model ◽  
Confirmatory Factor ◽  
A Performance

PurposeThis study aims to identify what managers involved in the design of a performance measurement system (PMS) perceive are the attributes of a successful PMS.Design/methodology/approachA total of 85 managers from Thai firms were interviewed to develop the proposed model to measure the success of a PMS. Results from 269 returned questionnaires from Thai managers were analysed by second order confirmatory factor analysis (CFA).FindingsBased on the study's findings, success of PMS was categorised into two aspects: design success and implementation success. Using CFA the empirical data demonstrate a good fit with the proposed measurement model.Research limitations/implicationsThe results of this study are based on the opinions of managers and therefore their accuracy is open to question. Adding non‐managerial perspectives might demonstrate another picture.Practical implicationsThe findings could well be useful for managers in any organisation. They can assist the manager in judging whether or not the company's PMS is successful according to the discovered criteria. Use of these criteria could lead to better decision‐making in the design and implementation of a PMS framework in any organisation.Originality/valueThis study enhances the body of knowledge by defining what a successful PMS means to managers in Thai firms. The results of this study can be applied to any country, but perceptions of what is important could vary from country to country.

“Can you do something about the price?” – Exploring the Indian deal and bargaining-prone customer

2015 ◽  
Vol 32 (5) ◽  
pp. 356-366 ◽  
Author(s):  
Jagrook Dawra ◽  
Kanupriya Katyal ◽  
Vipin Gupta
Keyword(s):  
Factor Analysis ◽  
Structural Equation ◽  
Structural Model ◽  
Measurement Model ◽  
Two Dimensions ◽  
Equation Modeling ◽  
Special Treatment ◽  
Content Type ◽  
Customer Base ◽  
Value Consciousness

Purpose – The paper aims to study how deal- and bargaining-prone customers are different from each other. This paper brings out this difference based on psychographics encompassing values – consciousness, price mavenism and personality orientations – needed for special treatment (distinctiveness and play). Design/methodology/approach – The measurement model was assessed using both exploratory factor analysis and confirmatory factor analysis. The structural model was tested using structural equation modeling. Findings – This paper finds that value consciousness is a two-dimensional construct in the Indian context. This construct comprises two dimensions of value consciousness, including concern for price and concern for quality. The authors find that deal-prone customers are value conscious and price mavens. Bargaining-prone customers are value-conscious price mavens and have a high need for special treatment (play). Play orientation distinguishes between a deal-prone and a bargaining-prone customer. Research limitations/implications – The study was limited to grocery products. The consumers surveyed were urban and educated Indians. Practical implications – With the Indian markets being opened for Western retailers, it is imperative to study the Indian consumers. It is important to understand why the local neighborhood store is able to retain its customer base even when the organized fixed-price formats have been around for approximately 20 years. Originality/value – This is one of the few papers that tries to understand the Indian consumer’s buying behavior, especially with respect to their haggling nature. This paper further develops our understanding of the “deal proneness” and “bargaining proneness” constructs. The authors also study their differences based on psychographics.

Quality 4.0 – a measurement model using the confirmatory factor analysis (CFA) approach

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
G.S. Sureshchandar
Keyword(s):  
Factor Analysis ◽  
Confirmatory Factor Analysis ◽  
Industry 4.0 ◽  
Research Work ◽  
Reliability And Validity ◽  
Measurement Model ◽  
Future Research ◽  
Content Type ◽  
Formidable Challenge ◽  
Confirmatory Factor

PurposeThe disruptions caused by new-age technologies of Industry 4.0 are posing a formidable challenge to researchers, academicians and practitioners alike. Quality 4.0 that depicts the role of the quality function in the Industry 4.0 scenario must be comprehended so that the rudiments of Quality 4.0 are understood properly, and interventions can be made to embrace the new normal. As the literature on Quality 4.0 is extremely scarce, empirical studies are mandatory to augment the process of theory building.Design/methodology/approachThe research work identifies 12 axes of the Quality 4.0 revolution based on literature review and insights from experts. Subsequently, a measurement model is formulated and an instrument to measure the level of Quality 4.0 implementation is developed. The measurement model has been checked for model fit, reliability and validity using the confirmatory factor analysis approach.FindingsThe proposed model was found to be adequate, reliable and valid and concludes that though technology plays a significant role in the development of the Quality 4.0 system, aspects of traditional quality are very much apropos to transform to the next frontier of quality.Research limitations/implicationsImplications for future research are provided which would help to further explore the nascent field of Quality 4.0.Practical implicationsThis research would help the practitioners better understand the various requirements and measure the degree of implementation of a Quality 4.0 system.Originality/valueThe present research is perhaps the first of its kind in propounding a measurement model, through empirical analysis, for the betterment of the understanding of Quality 4.0 and its associated constituents.

Sign in / Sign up

Export Citation Format

Share Document