scholarly journals A novel flexible two-step method for eye-to-hand calibration for robot assembly system

2020 ◽  
pp. 002029402096484
Author(s):  
Haihua Cui ◽  
Ruichao Sun ◽  
Zhou Fang ◽  
Huacheng Lou ◽  
Wei Tian ◽  
...  
Keyword(s):  
Industrial Robot ◽  
Great Influence ◽  
Assembly System ◽  
Measurement Equipment ◽  
Robot Hand ◽  
3D Measurement ◽  
Step Method ◽  
Robot System ◽  
Positioning Accuracy ◽  
External Equipment

In the visual robot system, the calibration of the hand-eye system is very important, which has a great influence on the positioning accuracy of the robot. Traditional methods are either complicated or require advanced external equipment. This paper proposes a new flexible method for hand-eye calibration, which is simple and flexible. Firstly, the robot carries the target to perform two transformation motions to solve the rotation relationship, and then the robot tool coordinate system performs several rotation motions to solve the transformation relationship. The paper provides empirical insights about how the robot hand-eye system is calibrated by controlling the robot to perform the specified motion without expensive and complicated 3D measurement equipment. The experiment and analysis indicate that the developed hand-eye calibration has high precision in 6-DOF industrial robot assembly application.

A robot assisted assembly system for small components in aircraft assembly

2014 ◽  
Vol 41 (5) ◽  
pp. 413-420 ◽  
Author(s):  
Zhangjun Jin ◽  
Cijun Yu ◽  
Jiangxiong Li ◽  
Yinglin Ke
Keyword(s):  
Industrial Robot ◽  
Tracking System ◽  
Feedback System ◽  
Assembly System ◽  
Robot System ◽  
Small Component ◽  
Content Type ◽  
Laser Tracking ◽  
Aircraft Assembly ◽  
Loop Feedback

Purpose – The purpose of this paper is to propose a robot-assisted assembly system (RAAS) for the installation of a variety of small components in the aircraft assembly system. The RAAS is designed to improve the assembly accuracy and increase the productive efficiency. Design/methodology/approach – The RAAS is a closed-loop feedback system, which is integrated with a laser tracking system and an industrial robot system. The laser tracking system is used to evaluate the deviations of the position and orientation of the small component and the industrial robot system is used to locate and re-align the small component according to the deviations. Findings – The RAAS has exhibited considerable accuracy improvement and acceptable assembly efficiency in aircraft assembly project. With the RAAS, the maximum position deviation of the component is reduced to 0.069 mm and the maximum orientation deviation is reduced to 0.013°. Social implications – The RAAS is applied successfully in one of the aircraft final assembly projects in southwest China. Originality/value – By integrating the laser tracking system, the RAAS is constructed as a closed-loop feedback system of both the position and orientation of the component. With the RAAS, the installation a variety of small components can be dealt with by a single industrial robot.

scholarly journals Calibration of Dual Industrial Robot System Based on Hand-Eye Calibration Algorithm

2021 ◽  
Vol 1939 (1) ◽  
pp. 012027
Author(s):  
Jingsen Jin ◽  
Weidong Hao ◽  
Daoguo Yang ◽  
Zhaoquan Tan ◽  
Chuan Zheng
Keyword(s):  
Industrial Robot ◽  
Robot System ◽  
Calibration Algorithm

Development and Testing of a Telemanipulation System With Arm and Hand Motion

2000 ◽  
Author(s):  
Michael L. Turner ◽  
Ryan P. Findley ◽  
Weston B. Griffin ◽  
Mark R. Cutkosky ◽  
Daniel H. Gomez
Keyword(s):  
Force Feedback ◽  
Haptic Feedback ◽  
Industrial Robot ◽  
Robot Hand ◽  
Robot Arm ◽  
Task Execution ◽  
Hand Motion ◽  
Instrumented Glove ◽  
Simple Manipulation ◽  
Dexterous Robot Hand

Abstract This paper describes the development of a system for dexterous telemanipulation and presents the results of tests involving simple manipulation tasks. The user wears an instrumented glove augmented with an arm-grounded haptic feedback apparatus. A linkage attached to the user’s wrist measures gross motions of the arm. The movements of the user are transferred to a two fingered dexterous robot hand mounted on the end of a 4-DOF industrial robot arm. Forces measured at the robot fingers can be transmitted back to the user via the haptic feedback apparatus. The results obtained in block-stacking and object-rolling experiments indicate that the addition of force feedback to the user did not improve the speed of task execution. In fact, in some cases the presence of incomplete force information is detrimental to performance speed compared to no force information. There are indications that the presence of force feedback did aid in task learning.

A simple and rapid calibration methodology for industrial robot based on geometric constraint and two-step error

2018 ◽  
Vol 45 (6) ◽  
pp. 715-721 ◽  
Author(s):  
Jiabo Zhang ◽  
Xibin Wang ◽  
Ke Wen ◽  
Yinghao Zhou ◽  
Yi Yue ◽  
...  
Keyword(s):  
Coordinate System ◽  
Large Scale ◽  
Industrial Robot ◽  
Geometric Constraint ◽  
Machining Process ◽  
Kinematic Parameters ◽  
Robot Calibration ◽  
Positioning Accuracy ◽  
Content Type ◽  
Rapid Calibration

Purpose The purpose of this study is the presentation and research of a simple and rapid calibration methodology for industrial robot. Extensive research efforts were devoted to meet the requirements of online compensation, closed-loop feedback control and high-precision machining during the flexible machining process of robot for large-scale cabin. Design/methodology/approach A simple and rapid method to design and construct the transformation relation between the base coordinate system of robot and the measurement coordinate system was proposed based on geometric constraint. By establishing the Denavit–Hartenberg model for robot calibration, a method of two-step error for kinematic parameters calibration was put forward, which aided in achievement of step-by-step calibration of angle and distance errors. Furthermore, KUKA robot was considered as the research object, and related experiments were performed based on laser tracker. Findings The experimental results demonstrated that the accuracy of the coordinate transformation could reach 0.128 mm, which meets the transformation requirements. Compared to other methods used in this study, the calibration method of two-step error could significantly improve the positioning accuracy of robot up to 0.271 mm. Originality/value The methodology based on geometric constraint and two-step error is simple and can rapidly calibrate the kinematic parameters of robot. It also leads to the improvement in the positioning accuracy of robot.

scholarly journals Kinematic Modeling of Six-Axis Industrial Robot and its Parameter Identification: A Tutorial

2021 ◽  
Vol 15 (5) ◽  
pp. 599-610
Author(s):  
Md. Moktadir Alam ◽  
◽  
Soichi Ibaraki ◽  
Koki Fukuda
Keyword(s):  
Present Model ◽  
Industrial Robot ◽  
Local Coordinate System ◽  
Kinematic Model ◽  
Kinematic Modeling ◽  
Positioning Accuracy ◽  
Rotary Axis ◽  
Model Based ◽  
Absolute Positioning ◽  
The Absolute

In advanced industrial applications, like machining, the absolute positioning accuracy of a six-axis robot is indispensable. To improve the absolute positioning accuracy of an industrial robot, numerical compensation based on positioning error prediction by the Denavit and Hartenberg (D-H) model has been investigated extensively. The main objective of this study is to review the kinematic modeling theory for a six-axis industrial robot. In the form of a tutorial, this paper defines a local coordinate system based on the position and orientation of the rotary axis average lines, as well as the derivation of the kinematic model based on the coordinate transformation theory. Although the present model is equivalent to the classical D-H model, this study shows that a different kinematic model can be derived using a different definition of the local coordinate systems. Subsequently, an algorithm is presented to identify the error sources included in the kinematic model based on a set of measured end-effector positions. The identification of the classical D-H parameters indicates a practical engineering application of the kinematic model for improving a robot’s positioning accuracy. Furthermore, this paper presents an extension of the present model, including the angular positioning deviation of each rotary axis. The angular positioning deviation of each rotary axis is formed as a function of the axis’ command angles and the direction of its rotation to model the effect of the rotary axis backlash. The identification of the angular positioning deviation of each rotary axis and its numerical compensation are presented, along with their experimental demonstration. This paper provides an essential theoretical basis for the error source diagnosis and error compensation of a six-axis robot.

scholarly journals Test methods for robot agility in manufacturing

2016 ◽  
Vol 43 (5) ◽  
pp. 563-572 ◽  
Author(s):  
Anthony Downs ◽  
William Harrison ◽  
Craig Schlenoff
Keyword(s):  
Industrial Robot ◽  
Test Methods ◽  
Standard Test ◽  
Simulation Environment ◽  
Robot System ◽  
Content Type ◽  
Efficiency And Effectiveness ◽  
Push Forward ◽  
World Environment ◽  
Practical Implications

Purpose This paper aims to define and describe test methods and metrics to assess industrial robot system agility in both simulation and in reality. Design/methodology/approach The paper describes test methods and associated quantitative and qualitative metrics for assessing robot system efficiency and effectiveness, which can then be used for the assessment of system agility. Findings The paper describes how the test methods were implemented in a simulation environment and real-world environment. It also shows how the metrics are measured and assessed as they would be in a future competition. Practical implications The test methods described in this paper will push forward the state of the art in software agility for manufacturing robots, allowing small and medium manufacturers to better utilize robotic systems. Originality/value The paper fulfills the identified need for standard test methods to measure and allow for improvement in software agility for manufacturing robots.

X3D-Based Robot Kinematics Simulation

2015 ◽  
Vol 7 (1) ◽  
pp. 46-56
Author(s):  
Meng XianHui ◽  
Yuan Chong
Keyword(s):  
Artificial Intelligence ◽  
Mechanism Design ◽  
Industrial Robot ◽  
Virtual Prototype ◽  
Practical Significance ◽  
Robot Kinematics ◽  
Prototype Model ◽  
Control Logic ◽  
Robot System ◽  
Kinematics Simulation

This paper introduces the related technology in the design of robot virtual prototype. Research is mainly focused on the virtual prototype of the mechanism design, kinematics simulation, control logic and main problems of prototype performance analysis, and try to use X3D technology to realize virtual prototype model of the robot. It is verifies the effectiveness of X3D technology in robot virtual prototype design. The key to realize the robot mechanism design, kinematics simulation, several aspects such as the logic control. But the design of the robot system is a comprehensive mechanical mechanisms, kinematics, dynamics, graphics, artificial intelligence, concurrent engineering, and simulation project of multiple disciplines such as advanced manufacturing technology. The design of the robot system includes dynamic analysis, static analysis, speed, trajectory control, sensor fusion, artificial intelligence analysis, and other technology. The comprehensive realization of multidisciplinary various restrictive factors is to achieve a feasible, effective and ideal robot virtual prototype model of the key problems. Further use X3D technology to add various related techniques to achieve X3D virtual prototype model, the design of robot system, the development of industrial robot has important practical significance.

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