Determination of the Optimum Cost-Residual Error Trade-off in Robot Calibration

1994 ◽  
Vol 116 (1) ◽  
pp. 28-35 ◽  
Author(s):  
G. Zak ◽  
R. G. Fenton ◽  
B. Benhabib
Keyword(s):  
Kinematic Model ◽  
Optimization Procedure ◽  
Calibration Procedure ◽  
Residual Error ◽  
Industrial Robots ◽  
Multiple Objective Optimization ◽  
Robot Calibration ◽  
Optimum Cost ◽  
The Cost

Most industrial robots cannot be off-line programmed to carry out a task accurately, unless their kinematic model is suitably corrected through a calibration procedure. However, proper calibration is an expensive and time-consuming procedure due to the highly accurate measurement equipment required and due to the significant amount of data that must be collected. To improve the efficiency of robot calibration, an optimization procedure is proposed in this paper. The objective of minimizing the cost of the calibration is combined with the objective of minimizing the residual error after calibration in one multiple-objective optimization. Prediction of the residual error for a given calibration process presents the main difficulty for implementing the optimization. It is proposed that the residual error is expressed as a polynomial function. This function is obtained as a result of fitting a response surface to either experimental or simulated sample estimates of the residual error. The optimization problem is then solved by identifying a reduced set of possible solutions, thus greatly simplifying the decision maker’s choice of an effective calibration procedure. An application example of this method is also included.

Optimization of the Robot Calibration Process

1992 ◽  
Author(s):  
G. Zak ◽  
R. G. Fenton ◽  
B. Benhabib
Keyword(s):  
Optimization Problem ◽  
Kinematic Model ◽  
Optimization Procedure ◽  
Calibration Procedure ◽  
Residual Error ◽  
Industrial Robots ◽  
Multiple Objective Optimization ◽  
Robot Calibration ◽  
Calibration Process ◽  
The Cost

Abstract Most industrial robots cannot be off-line programmed to carry out a task accurately, unless their kinematic model is suitably corrected through a calibration procedure. However, proper calibration is an expensive and time-consuming procedure due to the highly accurate measurement equipment required and due to the significant amount of data that must be collected. To improve the efficiency of robot calibration, an optimization procedure is proposed in this paper. The objective of minimizing the cost of the calibration is combined with the objective of minimizing the residual error after calibration in one multiple-objective optimization. Prediction of the residual error for a given calibration process presents the main difficulty for implementing the optimization. It is proposed that the residual error is expressed as a polynomial function. This function is obtained as a result of fitting a response surface to either experimental or simulated sample estimates of the residual error. The optimization problem is then solved by identifying a reduced set of possible solutions, thus greatly simplifying the decision maker’s choice of an effective calibration procedure. An application example of this method is also included.

A Sensitivity Analysis Based Method for Robot Calibration

1992 ◽  
Author(s):  
S. Kaizerman ◽  
B. Benhabib ◽  
R. G. Fenton ◽  
G. Zak
Keyword(s):  
Sensitivity Analysis ◽  
Kinematic Model ◽  
Calibration Procedure ◽  
Inverse Kinematic ◽  
Model Parameters ◽  
Robot Calibration ◽  
Adjoint Sensitivity ◽  
Analysis Methods ◽  
The Matrix ◽  
Direct Sensitivity

Abstract A new robot kinematic calibration procedure is presented. The parameters of the kinematic model are estimated through a relationship established between the deviations in the joint variables and the deviations in the model parameters. Thus, the new method can be classified as an inverse calibration procedure. Using suitable sensitivity analysis methods, the matrix of the partial derivatives of joint variables with respect to robot parameters is calculated without having explicit expressions of joint variables as a function of task space coordinates (closed inverse kinematic solution). This matrix provides the relationship between the changes in the joint variables and the changes in the parameter values required for the calibration. Two deterministic sensitivity analysis methods are applied, namely the Direct Sensitivity Approach and the Adjoint Sensitivity Method. The new calibration procedure was successfully tested by the simulated calibrations of a two degree of freedom revolute-joint planar manipulator.

Development of a Two-Arm Robotic System for Surfaces Polishing

2014 ◽  
Vol 934 ◽  
pp. 218-222
Author(s):  
Feng Yun Lin
Keyword(s):  
Kinematic Model ◽  
Industrial Robots ◽  
Parametric Surfaces ◽  
Efficient Tool ◽  
Generation Algorithm ◽  
Tool Paths ◽  
Coordination System ◽  
Structure Flexibility ◽  
Polishing Tool

Two-arm robots can get a greater structure flexibility and a better maneuverability, In this paper, a coordination system by using dual industrial robots for parametric surfaces polishing is presented. One robot holds and maneuvers a polishing workpiece, and the other robot moves the polishing tool. In order to improve time efficiency and surface quality, an adaptive path generation algorithm is proposed for the determination of efficient tool paths. The kinematic model of two-arm robots is also discussed.

Calibrating the Human Hand for Haptic Interfaces

1993 ◽  
Vol 2 (4) ◽  
pp. 281-296 ◽  
Author(s):  
Robert N. Rohling ◽  
John M. Hollerbach
Keyword(s):  
Index Finger ◽  
Kinematic Model ◽  
Calibration Procedure ◽  
Open Loop ◽  
Human Hand ◽  
Haptic Interfaces ◽  
Hand Model ◽  
Value Decomposition ◽  
Human Hand Model

Determination of human hand poses from hand master measurements of joint angles requires an accurate human hand model for each operator. A new method for human hand calibration is proposed, based on open-loop kinematic calibration. The parameters of a kinematic model of the human index finger are determined as an example. Singular value decomposition is used as a tool for analyzing the kinematic model and the identification process. It was found that accurate and reliable results are obtained only when the numerical condition is minimized through parameter scaling, model reduction and pose set selection. The identified kinematic parameters of the index finger with the Utah Dextrous Hand Master show that the kinematic model and the calibration procedure have an accuracy of about 2 mm.

Study of Neural-Kinematics Architectures for Model-Less Calibration of Industrial Robots

2021 ◽  
Vol 33 (1) ◽  
pp. 158-171
Author(s):  
Monica Tiboni ◽  
◽  
Giovanni Legnani ◽  
Nicola Pellegrini
Keyword(s):  
Degrees Of Freedom ◽  
Industrial Robot ◽  
Kinematic Model ◽  
Back Propagation ◽  
Simulated Data ◽  
Industrial Robots ◽  
Robot Calibration ◽  
Feed Forward Neural Network ◽  
Comparative Performance ◽  
Order Of Magnitude

Modeless industrial robot calibration plays an important role in the increasing employment of robots in industry. This approach allows to develop a procedure able to compensate the pose errors without complex parametric model. The paper presents a study aimed at comparing neural-kinematic (N-K) architectures for a modeless non-parametric robotic calibration. A multilayer perceptron feed-forward neural network, trained in a supervised manner with the back-propagation learning technique, is coupled in different modes with the ideal kinematic model of the robot. A comparative performance analysis of different neural-kinematic architectures was executed on a two degrees of freedom SCARA manipulator, for direct and inverse kinematics. Afterward the optimal schemes have been identified and further tested on a three degrees of freedom full SCARA robot and on a Stewart platform. The analysis on simulated data shows that the accuracy of the robot pose can be improved by an order of magnitude after compensation.

scholarly journals A Methodology for Industrial Robot Calibration Based on Measurement Sub-Regions

2021 ◽  
Author(s):  
Juan Sebastian Toquica ◽  
José Maurı́cio Motta
Keyword(s):  
Industrial Robot ◽  
Low Cost ◽  
Kinematic Model ◽  
Measurement Data ◽  
Industrial Applications ◽  
Industrial Robots ◽  
Robot Calibration ◽  
High Precision Measurement ◽  
Measurement Systems ◽  
Robot Accuracy

Abstract This paper proposes a methodology for calibration of industrial robots that uses a concept of measurement sub-regions, allowing low-cost solutions and easy implementation to meet the robot accuracy requirements in industrial applications. The solutions to increasing the accuracy of robots today have high-cost implementation, making calibration throughout the workplace in industry a difficult and unlikely task. Thus, reducing the time spent and the measured workspace volume of the robot end-effector are the main benefits of the implementation of the sub-region concept, ensuring sufficient flexibility in the measurement step of robot calibration procedures. The main contribution of this article is the proposal and discussion of a methodology to calibrate robots using several small measurement sub-regions and gathering the measurement data in a way equivalent to the measurements made in large volume regions, making feasible the use of high-precision measurement systems but limited to small volumes, such as vision-based measurement systems. The robot calibration procedures were simulated according to the literature, such that results from simulation are free from errors due to experimental setups as to isolate the benefits of the measurement proposal methodology. In addition, a method to validate the analytical off-line kinematic model of industrial robots is proposed using the nominal model of the robot supplier incorporated into its controller.

A Sensitivity Analysis Based Method for Robot Calibration

1994 ◽  
Vol 116 (2) ◽  
pp. 607-613 ◽  
Author(s):  
S. Kaizerman ◽  
G. Zak ◽  
B. Benhabib ◽  
R. G. Fenton
Keyword(s):  
Sensitivity Analysis ◽  
Kinematic Model ◽  
Calibration Procedure ◽  
Inverse Kinematic ◽  
Model Parameters ◽  
Robot Calibration ◽  
Adjoint Sensitivity ◽  
Analysis Methods ◽  
The Matrix ◽  
Direct Sensitivity

A new robot kinematic calibration procedure is presented. The parameters of the kinematic model are estimated through a relationship established between the deviations in the joint variables and the deviations in the model parameters. Thus, the new method can be classified as an inverse calibration procedure. Using suitable sensitivity analysis methods, the matrix of the partial derivatives of joint variables with respect to robot parameters is calculated without having explicit expressions of joint variables as a function of task space coordinates (closed inverse kinematic solution). This matrix provides the relationship between the changes in the joint variables and the changes in the parameter values required for the calibration. Two deterministic sensitivity analysis methods are applied, namely the Direct Sensitivity Approach and the Adjoint Sensitivity Method. The new calibration procedure was successfully tested by the simulated calibrations of a two-degree-of-freedom revolute-joint planar manipulator.

scholarly journals Experimental Analysis on the Effectiveness of Kinematic Error Compensation Methods for Serial Industrial Robots

2021 ◽  
Vol 2021 ◽  
pp. 1-9
Author(s):  
Ying Zhang ◽  
Guifang Qiao ◽  
Guangming Song ◽  
Aiguo Song ◽  
Xiulan Wen
Keyword(s):  
Error Compensation ◽  
Kinematic Model ◽  
Compensation Method ◽  
Industrial Robots ◽  
Identification Accuracy ◽  
Kinematic Error ◽  
Robot Calibration ◽  
Experiment Platform ◽  
Compensation Methods ◽  
Serial Robot

Based on the established serial 6-DOF robot calibration experiment platform, this paper aims to analyze and compare the effects of four error compensation methods, which are pseudotarget iteration-based error compensation method with three different forms and the Newton–Raphson-based error compensation method. Firstly, the pose error model of the serial robot is established based on the M-DH model in this paper. The calibration results show that the accuracy of the Staubli TX60 robot has been greatly improved. The average comprehensive position accuracy is increased by 88.7%, and the average comprehensive attitude accuracy is increased by 56.6%. Secondly, the principles of the four error compensation methods are discussed, and the effectiveness of the four error compensation methods are compared through experiments. The results show that the four error compensation methods can achieve error compensation well. The compensation accuracy is consistent with the identification accuracy of the kinematic model. The pseudotarget iteration with differential form has the best performance by the comprehensive consideration of accuracy and computational efficiency. Error compensation determines whether the accuracy of the identified model can be achieved. This paper presents a systematic experimental validation research on the effectiveness of four error compensation methods, which provides a reliable reference for the kinematic error compensation of industrial robots.

A Simulation Technique for the Improvement of Robot Calibration

1993 ◽  
Vol 115 (3) ◽  
pp. 674-679 ◽  
Author(s):  
G. Zak ◽  
R. G. Fenton ◽  
B. Benhabib
Keyword(s):  
Computer Simulation ◽  
Calibration Procedure ◽  
Industrial Robots ◽  
Measurement Equipment ◽  
Robot Calibration ◽  
Systematic Method ◽  
Industrial Environment ◽  
Calibration Process ◽  
Calibration Methods ◽  
Method Analysis

Industrial robots may not be off-line programmable, unless their accuracy is improved by a suitable calibration procedure. However, proper calibration is a time-consuming and expensive procedure due to the highly accurate measurement equipment required and due to the significant amount of data that must be collected. These considerations prevent wider application of currently available calibration methods to robots in industrial environment. To provide the necessary tools for the optimization of the calibration process, in this paper, a computer simulation of the robot calibration and a systematic method for the evaluation of this calibration are developed. Simulated experiments are conducted to demonstrate the operation of the proposed method. Analysis of the data obtained in these experiments shows the capability of the simulation for comparison of alternative calibration procedures/set-ups and for prediction of the expected accuracy of the robot after an actual calibration is performed.

Mekanisme Dan Proteksi Jaminan Nasabah Pada Gadai Informal

Liquidity ◽  
2017 ◽  
Vol 6 (2) ◽  
pp. 103-109
Author(s):  
Yuri Nanda Larasati ◽  
Jafril Khalil
Keyword(s):  
Qualitative Research ◽  
Research Methods ◽  
Financial Services ◽  
Field Data ◽  
Qualitative Research Methods ◽  
Research Field ◽  
Consumer Society ◽  
Library Research ◽  
The Cost

Regulation of the financial services authority (OJK) No. 31/POJK.05/2016 on Venture had arranged that the financial services agency on the basis of the law of pledge is in coaching and supervision OJK. Yet the existence of laws – invitation to Governing Enterprise pawn shops causing business activities conducted by the above parties are not yet regulated. The condition is feared could cause harm to the consumer society. The purpose of this research is to know the procedures, mechanisms, protection of goods and guarantee the consumer on an informal pledge financing, methods of determination of the cost of maintenance of the goods and the goods of the execution mechanism of the pledge as well as protection for the collateral items are viewed from the side of the consumer by looking at laws-invitations and Sharia. To find out whether the pledge have gotten permission from OJK. This research uses qualitative research methods with the study of library research, field data and simulations. The approach used in this study is the empirical juridical approach. Elaboration upon the results is discussed further in this article.

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