Dynamic Calibration for Serial Robotic Manipulators Based on the Zero Position Analysis Method

1989 ◽  
Author(s):  
G. Z. Qian ◽  
K. Kazerounian
Keyword(s):  
Robotic Manipulators ◽  
Calibration Method ◽  
Dynamic Calibration ◽  
Calibration Model ◽  
Kinematic Calibration ◽  
Dynamic Parameters ◽  
Analysis Method ◽  
Kinematic Parameters ◽  
Position Analysis ◽  
Zero Position

Abstract In the continuation of a kinematic calibration method developed in a previous report, a new dynamic calibration model for serial robotic manipulators is presented in this paper. This model is based on the Zero Position Analysis Method. It entails the process of estimating the errors in the robot’s dynamic parameters by assuming that the kinematic parameters are free of errors. The convergence and effectiveness of the model are demonstrated through numerical simulations.

Kinematic Calibration of Robotic Manipulators

1989 ◽  
Vol 111 (4) ◽  
pp. 482-487 ◽  
Author(s):  
K. Kazerounian ◽  
G. Z. Qian
Keyword(s):  
Coordinate System ◽  
Numerical Simulations ◽  
Robotic Manipulators ◽  
Calibration Model ◽  
Kinematic Calibration ◽  
Analysis Method ◽  
Position Analysis ◽  
Zero Position ◽  
Joint Coordinate System

A kinematic calibration model for serial robotic manipulators is presented. This model is based on the zero position analysis method, and is not prone to the difficulties encountered in case of parallel or near parallel joints when using joint coordinate system notations. The convergence and effectiveness of the model are demonstrated by numerical simulations.

On the Numerical Inverse Kinematics of Robotic Manipulators

1987 ◽  
Vol 109 (1) ◽  
pp. 8-13 ◽  
Author(s):  
Kazem Kazerounian
Keyword(s):  
Inverse Kinematics ◽  
Robotic Manipulators ◽  
Analysis Method ◽  
Computationally Efficient ◽  
Serial Manipulators ◽  
Position Analysis ◽  
Zero Position

Based on the sequential motion of joints, a method is developed for the numerical inverse kinematics of serial manipulators. This algorithm is stable and computationally efficient and uses the zero position analysis method for robotic manipulators.

A calibration method of kinematic parameters for serial industrial robots

2014 ◽  
Vol 41 (2) ◽  
pp. 157-165 ◽  
Author(s):  
Wei Wang ◽  
Gang Wang ◽  
Chao Yun
Keyword(s):  
Calibration Method ◽  
Error Model ◽  
Industrial Robots ◽  
Reference Configuration ◽  
Calibration Model ◽  
Positioning Error ◽  
Kinematic Parameters ◽  
Rigid Displacement ◽  
Content Type ◽  
Zero Position

Purpose – Calibrating kinematic parameters is one of the efficient ways to improve the robot's positioning accuracy. A method based on the product-of-exponential (POE) formula to calibrate the kinematic parameters of serial industrial robots is proposed. The paper aims to discuss these issues. Design/methodology/approach – The forward kinematics is established, and the general positioning error model is deduced in an explicit expression. A simplified model of robot's positioning error is established as both the error of reference configuration and the error of rigid displacement of the base coordinating system with respect to the measuring coordinating system are equivalently transferred to the zero position errors of the robot's joints. A practical calibration model is forwarded only requiring 3D measuring based on least-squares algorithm. The calibration system and strategy for calibrating kinematic parameters are designed. Findings – By the two geometrical constrains between the twist coordinates, each joint twist only has four independent coordinates. Due to the equivalent error model, the zero position error of each joint can cover the error of reference configuration and rigid displacement of the robot base coordinating system with respect to the measuring coordinating system. The appropriate number of independent kinematic parameters of each joint to be calibrated is five. Originality/value – It is proved by a group of calibration experiments that the calibration method is well conditioned and can be used to promote the level of absolute error of end effector of industrial robot to 2.2 mm.

Kinematic calibration of the Gough Platform

Robotica ◽  
2003 ◽  
Vol 21 (6) ◽  
pp. 677-690 ◽  
Author(s):  
David Daney
Keyword(s):  
Calibration Method ◽  
Parallel Robots ◽  
The State ◽  
Kinematic Calibration ◽  
Basic System ◽  
Initial Error ◽  
Kinematic Parameters ◽  
Constraint Equations ◽  
Machining Center ◽  
Industrial Context

Kinematic calibration is essential to improve the accuracy of the manipulator. This paper presents a complete description of the Gough platform modeling and a unified scheme to identify its kinematic parameters. The interest of this formulation is that it may be applied whatever information is available on the state of the robot (measurement or constraints) without using the kinematics to obtain the basic system of constraint equations. Moreover, the scheme may be applied for all parallel robots. We propose to experiment and compare three methods of calibration, using either (or both) external measurement and internal redundant sensors. Finally, we show how to reduce the initial error in pose determination by 99% for the Hexapode 300, CMW's machining center, and validate the choice of a self-calibration method in an industrial context.

scholarly journals Accuracy Improvement Calibrations for the Double-Position 4-PPPS Aircraft Docking System

2020 ◽  
Vol 2020 ◽  
pp. 1-14
Author(s):  
Ruolong Qi ◽  
Yuangui Tang ◽  
Ke Zhang
Keyword(s):  
Parallel Mechanism ◽  
Calibration Method ◽  
Labor Intensity ◽  
Kinematic Calibration ◽  
Kinematic Parameters ◽  
Accuracy Improvement ◽  
Pointing Error ◽  
Accuracy Measurement ◽  
Aircraft Fuselage ◽  
Docking Experiment

A double-positions 4-PPPS parallel mechanism is used for the aircraft fuselage assembly process to improve the docking efficiency and reduce the labor intensity. However, the accuracy is hard to guarantee, for the mechanism is large and redundant and has manufacturing and assembly errors. To improve the accuracy of the 4-PPPS parallel aircraft fuselage docking system, firstly, an averaging iteration method is proposed to calibrate the datum points in the airplane coordinate which are the references of the entire docking system. And secondly, a kinematic calibration method based on the derivative of the spatial pose transformation is proposed to calibrate up to 42 kinematic parameters. By these two methods, the final maximum position error reduced from 2.2 mm to 0.035 mm and the maximum pointing error reduced from 0.08 degree to 0.018 degree. The accuracy measurement and docking experiment prove the efficiency of the proposed methods.

A Simple Two-step Geometric Approach for the Kinematic Calibration of the 3-PRS Parallel Manipulator

Robotica ◽  
2019 ◽  
Vol 37 (5) ◽  
pp. 837-850
Author(s):  
Genliang Chen ◽  
Lingyu Kong ◽  
Qinchuan Li ◽  
Hao Wang
Keyword(s):  
Parameter Identification ◽  
Parallel Manipulator ◽  
Parallel Manipulators ◽  
Calibration Method ◽  
Kinematic Parameter ◽  
Geometric Constraints ◽  
Kinematic Calibration ◽  
Kinematic Parameters ◽  
Positioning Accuracy ◽  
Kinematic Parameter Identification

SummaryKinematic calibration plays an important role in the improvement of positioning accuracy for parallel manipulators. Based on the specific geometric constraints of limbs, this paper presents a new kinematic parameter identification method for the widely studied 3-PRS parallel manipulator. In the proposed calibration method, the planes where the PRS limbs exactly located are identified firstly as the geometric characteristics of the studied parallel manipulator. Then, the limbs can be considered as planar PR mechanisms whose kinematic parameters can be determined conveniently according to the limb planes identified in the first step. The main merit of the proposed calibration method is that the system error model which relates the manipulator’s kinematic errors to the output ones is not required for kinematic parameter identification. Instead, only two simple geometric problems need to be established for identification, which can be solved readily using gradient-based searching algorithms. Hence, another advantage of the proposed method is that parameter identification of the manipulator’s limbs can be accomplished individually without interactive impact on each other. In order to validate the effectiveness and efficiency of the proposed method, calibration experiments are conducted on an apparatus of the studied 3-PRS parallel manipulator. The results show that using the proposed two-step calibration method, the kinematic parameters can be identified quickly by means of gradient searching algorithm (converge within five iterations for both steps). The positioning accuracy of the studied 3-PRS parallel manipulator has been significantly improved by compensation according to the identified parameters. The mean position and orientation errors at the validation configurations have been reduced to 1.56 × 10−4 m and 1.13 × 10−3 rad, respectively. Further, the proposed two-step kinematic calibration method can be extended to other limited-degree-of-freedom parallel manipulators, if proper geometric constraints can be characterized for their kinematic limbs.

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.

A kinematic calibration method based on the product of exponentials formula for serial robot using position measurements

Robotica ◽  
2014 ◽  
Vol 33 (6) ◽  
pp. 1295-1313 ◽  
Author(s):  
Ruibo He ◽  
Xiwen Li ◽  
Tielin Shi ◽  
Bo Wu ◽  
Yingjun Zhao ◽  
...  
Keyword(s):  
Calibration Method ◽  
Kinematic Parameter ◽  
Kinematic Calibration ◽  
Position Measurement ◽  
Error Models ◽  
Position Errors ◽  
Zero Position ◽  
Prismatic Joints ◽  
Serial Robot ◽  
Initial Transformation

SUMMARYBased on product of exponentials (POE) formula, three explicit error models are given in this paper for kinematic calibration of serial robot through measuring its end-effector positions. To obtain these error models, the tool frame should be chosen as reference frame at first, and then each position–error-related segment in the error models using pose measurement should be selected. And during kinematic parameter identification, all the errors in joint twists are identifiable, and the initial transformation errors and the joint zero-position errors can be identified conditionally. Namely, the initial transformation errors are identifiable if they do not contain orientation errors. And the joint zero-position errors are identifiable when a robot only consists of prismatic joints and the coordinates of its joint twists are linearly independent.The effectiveness of this calibration method has been validated by simulations and experiments. The results show that: (1) the identification algorithms are robust and practical. (2) The method of position measurement is superior to that of pose measurement.

Self-calibration of three-legged modular reconfigurable parallel robots based on leg-end distance errors

Robotica ◽  
2001 ◽  
Vol 19 (2) ◽  
pp. 187-198 ◽  
Author(s):  
Guilin Yang ◽  
I-Ming Chen ◽  
Wee Kiat Lee ◽  
Song Huat Yeo
Keyword(s):  
Calibration Method ◽  
Parallel Robots ◽  
Least Square ◽  
Fine Tuning ◽  
Robot Kinematics ◽  
Calibration Model ◽  
Kinematic Calibration ◽  
Linear Calibration ◽  
Self Calibration ◽  
End Distance

A class of three-legged modular reconfigurable parallel robots is designed and constructed for precision assembly and light machining tasks by using standard active and passive joint modules in conjunction with custom designed links and mobile platforms. Since kinematic errors, especially the assembly errors, are likely to be introduced, kinematic calibration becomes particularly important to enhance the positioning accuracy of a modular reconfigurable robot. Based on the local frame representation of the Product-Of-Exponentials (Local POE) formula, a self-calibration method is proposed for these three-legged modular reconfigurable parallel robots. In this method, both revolute and prismatic joint axes can be uniformly expressed in twist coordinates by their respective local (body) frames. Since these local frames can be arbitrarily defined on their corresponding links, we are able to calibrate them, and yet retain the nominal local description of their respective joints, i.e., the nominal twist coordinates and nominal joint displacements, to reflect the actual kinematics of the robot. The kinematic calibration thus becomes a procedure of fine-tuning the locations and orientations of the local frames. Using mathematical tools from differential geometry and group theory, an explicit linear calibration model is formulated based on the leg-end distance errors. An iterative least-square algorithm is employed to identify the error parameters. A simulation example of calibrating a three-legged (RRRS) modular parallel robot shows that the robot kinematics can be fully calibrated within two to three iterations.

CALIBRATION OF THE 3-PRS PARALLEL MANIPULATOR USING A MOTION CAPTURE SYSTEM

2005 ◽  
Vol 29 (4) ◽  
pp. 645-654
Author(s):  
C.G. van Driel ◽  
Juan A. Carretero
Keyword(s):  
Motion Capture ◽  
Parallel Manipulator ◽  
Kinematic Model ◽  
Calibration Method ◽  
Kinematic Calibration ◽  
Virtual Model ◽  
Motion Capture System ◽  
Parallel Mechanisms ◽  
Kinematic Parameters ◽  
Preliminary Testing

In this paper, a kinematic calibration method for the 3-PRS parallel manipulator using a motion capture system is presented. Although parallel mechanisms present numerous advantages over their serial counterparts, an accurate kinematic model must be developed to facilitate their operation. Kinematic calibration is used to accurately determine the kinematic parameters of the kinematic model to improve the overall accuracy of the mechanism. The kinematic calibration of the 3-PRS parallel manipulator will be examined by identification of the manipulator's kinematic parameters, an introduction to the motion capture system used, and the presentation of die calibration method itself. For preliminary testing purposes, a virtual model of the manipulator has been generated in CAD to validate the calibration method. The calibration method initially determines the joint locations and orientations, from which the remaining kinematic parameters can be resolved. Preliminary testing using the virtual model indicates the method is valid and can accurately determine the modelled parameters. Once the physical manipulator is operational, alterations the calibration method will be required to account for manufacturing and assembly tolerances/errors, joint offsets and noise during the static captures.

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