A performance comparison of the full pose- and partial pose-based robot calibration for various types of robot manipulators

2021 ◽  
Vol 13 (9) ◽  
pp. 168781402110477
Author(s):  
Hoai-Nhan Nguyen ◽  
Phu-Nguyen Le ◽  
Hee-Jun Kang

Robot kinematic calibration used to be carried out with the partial pose measurements (position only) of dimension 3 in industry, while full pose measurements (orientation and position) of dimension 6 sometimes could be considered to improve the calibration performance. This paper investigates the effects of measurement dimensions on robot calibration accuracy. It compares the resulting robot accuracies in both partial pose and full pose cases after calibrating three structural types of robot manipulators such as a serial manipulator (Hyundai HA-06 robot), a single closed-chain manipulator (Hyundai HX-165 robot), and a multiple closed-chain manipulator (Hyundai HP-160 robot). These comparative studies show when the full-pose based calibration need to be considered and how much it contributes the improvement of robot accuracy to the different structural type of robot manipulators.

1999 ◽  
Author(s):  
Chunhe Gong ◽  
Jingxia Yuan ◽  
Jun Ni

Abstract Robot calibration plays an increasingly important role in manufacturing. For robot calibration on the manufacturing floor, it is desirable that the calibration technique be easy and convenient to implement. This paper presents a new self-calibration method to calibrate and compensate for robot system kinematic errors. Compared with the traditional calibration methods, this calibration method has several unique features. First, it is not necessary to apply an external measurement system to measure the robot end-effector position for the purpose of kinematic identification since the robot measurement system has a sensor as its integral part. Second, this self-calibration is based on distance measurement rather than absolute position measurement for kinematic identification; therefore the calibration of the transformation from the world coordinate system to the robot base coordinate system, known as base calibration, is not necessary. These features not only greatly facilitate the robot system calibration but also shorten the error propagation chain, therefore, increase the accuracy of parameter estimation. An integrated calibration system is designed to validate the effectiveness of this calibration method. Experimental results show that after calibration there is a significant improvement of robot accuracy over a typical robot workspace.


2019 ◽  
pp. 374-380
Author(s):  
Hanna Mezhzherina

The article deals with the translation of aviation terms-abbreviations ((LORAN, tkof, Ttail, etc.) from English into Ukrainian. The regularities of structural integration of components in English and Ukrainian aviation terms were found. The types of structural and semantic transformations in translation were analyzed. The structure and features of the translation of letter abbreviations (UHF, HIPAR, etc.) are described. It was found that three–component word-combinations (ACC – area control center) often serve as the basis for design of letter aviation abbreviations; two-component, four-component, and five-component phrases are used occasionally. In the English aviation terminological system unlike the Ukrainian one the material for the formation of letter abbreviations may be composite as well as phrases, one of the components of which is expressed by a complex word. For the translation of the created in this way terms we can restore the original word-combination and use calquing. It should be borne in mind that one of the letters in its composition may be a reduction of conjunctions or prepositions (SARC – search and rescue center). The reduction to three or four letters of one of the components of the terminology word-combinations is a typical way of formation English aviation abbreviations. When determining the original form of the English term, a translator should take into account that not only the first, but also the last component of the phrase can be subject to reduction. The translation specificity of homoacronyms that based on word-combinations in which one of the components is a concatenation-type composite is shown. Attention is paid to the availability of borrowings in English and Ukrainian aviation terminological systems. Identification of abbreviations-borrowings requires the use of French, German and other terminology dictionaries. It is important to distinguish elliptical abbreviations not only from the initial ones, but also from the reductions of the composites to the first letters of their components, to achieve an adequate translation. The terms-abbreviations that are formed by the reduction of current words were found. The choice of methods, types, ways to translate English aviation abbreviations (calquing of the original form, calquing with the following abbreviation, descriptive translation, etc.) depends on the structural type of the term. The required condition for an adequate translation of abbreviations is to take into account the broad context. The material was taken from dictionaries of aviation terms and original scientific texts.


Author(s):  
Guozhi Li ◽  
Fuhai Zhang ◽  
Yili Fu ◽  
Shuguo Wang

Purpose The purpose of this paper is to propose an error model for serial robot kinematic calibration based on dual quaternions. Design/methodology/approach The dual quaternions are the combination of dual-number theory and quaternion algebra, which means that they can represent spatial transformation. The dual quaternions can represent the screw displacement in a compact and efficient way, so that they are used for the kinematic analysis of serial robot. The error model proposed in this paper is derived from the forward kinematic equations via using dual quaternion algebra. The full pose measurements are considered to apply the error model to the serial robot by using Leica Geosystems Absolute Tracker (AT960) and tracker machine control (T-MAC) probe. Findings Two kinematic-parameter identification algorithms are derived from the proposed error model based on dual quaternions, and they can be used for serial robot calibration. The error model uses Denavit–Hartenberg (DH) notation in the kinematic analysis, so that it gives the intuitive geometrical meaning of the kinematic parameters. The absolute tracker system can measure the position and orientation of the end-effector (EE) simultaneously via using T-MAC. Originality/value The error model formulated by dual quaternion algebra contains all the basic geometrical parameters of serial robot during the kinematic calibration process. The vector of dual quaternion error can be used as an indicator to represent the trend of error change of robot’s EE between the nominal value and the actual value. The accuracy of the EE is improved after nearly 20 measurements in the experiment conduct on robot SDA5F. The simulation and experiment verify the effectiveness of the error model and the calibration algorithms.


2019 ◽  
Vol 61 (1) ◽  
pp. 53
Author(s):  
Н.И. Сорокин ◽  
Б.П. Соболев

AbstractThe intrinsic fluorine-ion conductivity σ_lat of BaF_2 (CaF_2 fluorite type) and LaF_3 (tysonite type) crystals is studied by the impedance spectroscopy method. These compounds represent two major structural types taken as the basis to form the best nonstoichiometric fluorine-conducting solid electrolytes. The conductivity σ_lat caused by thermally activated defects is manifested in the field of high temperatures, where conductometric measurements are complicated by pyrohydrolysis. The experiments carried out in inert atmosphere with application of the impedance method have for the first time produced the reliable values of σ_lat of fluoride crystals in conditions of suppression of pyrohydrolysis (BaF_2) or partial pyrohydrolysis (LaF_3). Values of the σ_lat at 773 K for BaF_2 and LaF_3 crystals grown from melt by the Bridgman method using the vacuum technology are 2.2 × 10^–5 and 8.5 × 10^–3 S/cm differing by a factor of ~400. The tysonite structural type has been proved feasible for making high-conductivity solid fluoride electrolytes based on the analysis of energy characteristics of formation and migration of anionic defects.


2018 ◽  
Vol 23 (4) ◽  
pp. 467-493 ◽  
Author(s):  
Jūratė Ruzaitė

Abstract The present study accounts for the use of general extenders (GEs) in spoken and written registers. The repertoire and usage of GEs is analysed in Lithuanian by focusing on their distribution across different registers, their structural properties, and discourse-pragmatic functions. The study is based on a reference corpus of Lithuanian, which includes four subcorpora of written discourse and a subcorpus of spoken discourse. The findings indicate that there are some significant cross-generic differences in GE frequency, but most frequently GEs in Lithuanian are used in written academic discourse. With regard to the structural types of GEs, adjunctives are considerably more frequent than disjunctives. GE structure allows for a large degree of variation, and in spoken interaction GEs can include deictic elements. Concerning discourse-pragmatic functions, GEs are predominantly used to serve textual and interpersonal functions, which appear to be strongly related to the structural type of the GE and discourse settings.


Author(s):  
Xuejie Jiang ◽  
Lijin Fang ◽  
Yue Gao

The kinematic calibration accuracy of serial manipulators is affected by the error expression ability of the selected measurement configurations and non-geometric errors such as joint disturbance, measurement noise, etc. Based on the observability of configurations, deviation of identifiable parameters, and calibration robustness, this paper proposes a multilevel evaluation criterion for measurement configuration optimization. In addition, based on the Compute Unified Device Architecture (CUDA) parallel computing technique, the most time-consuming Jacobian matrix calculation program in the algorithm is modified, and an efficient optimization algorithm for measurement configurations is established, to guarantee the feasibility of the evaluation criterion. Combined with CUDA algorithm, fast calibration is implemented with fewer measurement points and relatively higher accuracy, by means of multilevel optimization. The results illustrate the effectiveness and the universality of the proposed multilevel evaluation criterion. The criterion can be applied in calibration experiments of multi-degree of freedom (DOF) serial manipulators with complex structures.


Author(s):  
Mansour Abtahi ◽  
Hodjat Pendar ◽  
Aria Alasty ◽  
Gholamreza Vossoughi

Because of errors in the geometric parameters of the parallel robots, it is necessary to calibrate them to improve the positioning accuracy for accurate task performance. Traditionally, to perform system calibration, one needs to measure a number of robot poses using an external measuring device. However, this process is often time-consuming, expensive and difficult for robot on-line calibration. In this paper, a methodical way of self-calibrating of Hexaglide parallel robot is introduced. This method is performable only by measuring input joint variables and errors of positioning relative to the desired position in some sets of configurations where in each set the desired position is fixed, but orientations of the moving platform are different. In this method, measurements are relative, so it is performable by using a simple measurement device. Simulations give us an idea about the number of desired points, the number of orientations in each point and the effect of noise on the calibration accuracy.


Sign in / Sign up

Export Citation Format

Share Document