SLAM-integrated Kinematic Calibration with a Stereo Camera for Industrial Robots

2021 ◽  
Vol 2021 (0) ◽  
pp. 605
Author(s):  
Yutaro NAGATOMO ◽  
Jinghui LI ◽  
Yasuaki TANAKA ◽  
Yusuke MAEDA
Keyword(s):  
Industrial Robots ◽  
Kinematic Calibration ◽  
Stereo Camera

A Kinematic Calibration Method for Industrial Robots Using Autonomous Visual Measurement

CIRP Annals ◽  
2006 ◽  
Vol 55 (1) ◽  
pp. 1-6 ◽  
Author(s):  
A. Watanabe ◽  
S. Sakakibara ◽  
K. Ban ◽  
M. Yamada ◽  
G. Shen ◽  
...  
Keyword(s):  
Calibration Method ◽  
Industrial Robots ◽  
Kinematic Calibration ◽  
Visual Measurement

ROTATION ERROR MODELING AND IDENTIFICATION FOR ROBOT KINEMATIC CALIBRATION BY CIRCLE POINT METHOD

2014 ◽  
Vol 21 (1) ◽  
pp. 85-98 ◽  
Author(s):  
Jorge Santolaria ◽  
Javier Conte ◽  
Marcos Pueo ◽  
Carlos Javierre
Keyword(s):  
Physical Reality ◽  
Measurement Methods ◽  
Error Modeling ◽  
Industrial Robots ◽  
Kinematic Calibration ◽  
Dynamic Parameters ◽  
Screw Axis ◽  
Real Geometry ◽  
Mathematical Optimisation ◽  
Kinematical Parameters

Abstract Screw axis measurement methods obtain a precise identification of the physical reality of the industrial robots’ geometry. However, these methods are in a clear disadvantage compared to mathematical optimisation processes for kinematical parameters. That’s because mathematical processes obtain kinematical parameters which best reduce the robot errors, despite not necessarily representing the real geometry of the robot. This paper takes the next step at the identification of a robot’s movement from the identification of its real kinematical parameters for the later study of every articulation’s rotation. We then obtain a combination of real kinematic and dynamic parameters which describe the robot’s movement, improving its precision with a physical understanding of the errors.

A new approach of kinematic geometry for error identification and compensation of industrial robots

2018 ◽  
Vol 233 (5) ◽  
pp. 1783-1794
Author(s):  
Zhi Wang ◽  
Huimin Dong ◽  
Shaoping Bai ◽  
Delun Wang
Keyword(s):  
Curve Fitting ◽  
Kinematic Model ◽  
Coordinate Measuring Machine ◽  
Reference Points ◽  
Industrial Robots ◽  
Kinematic Calibration ◽  
Kinematic Pair ◽  
Good Efficiency ◽  
New Approach ◽  
Measuring Machine

A new approach for kinematic calibration of industrial robots, including the kinematic pair errors and the link errors, is developed in this paper based on the kinematic invariants. In most methods of kinematic calibration, the geometric errors of the robots are considered in forms of variations of the link parameters, while the kinematic pairs are assumed ideal. Due to the errors of mating surfaces in kinematic pairs, the fixed and moving axes of revolute pairs, or the fixed and moving guidelines of prismatic pairs, are separated, which can be concisely identified as the kinematic pair errors and the link errors by means of the kinematic pair errors model, including the self-adaption fitting of a ruled surface, or the spherical image curve fitting and the striction curve fitting. The approach is applied to the kinematic calibration of a SCARA robot. The discrete motion of each kinematic pair in the robot is completely measured by a coordinate measuring machine. Based on the global kinematic properties of the measured motion, the fixed and moving axes, or guidelines, of the kinematic pairs are identified, which are invariants unrelated to the positions of the measured reference points. The kinematic model of the robot is set up using the identified axes and guidelines. The results validate the approach developed has good efficiency and accuracy.

scholarly journals Selecting Optimal Measurement Poses for Kinematic Calibration of Industrial Robots

2014 ◽  
Vol 6 ◽  
pp. 291389 ◽  
Author(s):  
Jian Zhou ◽  
Hoai-Nhan Nguyen ◽  
Hee-Jun Kang
Keyword(s):  
Industrial Robots ◽  
Kinematic Calibration ◽  
Optimal Measurement

Kinematic calibration for industrial robots using articulated arm coordinate machines

2019 ◽  
Vol 31 (1) ◽  
pp. 16
Author(s):  
Wen Wang ◽  
Guanbin Gao ◽  
Hongwei Zhang ◽  
Hongjun San ◽  
Xing Wu ◽  
...  
Keyword(s):  
Industrial Robots ◽  
Kinematic Calibration

Kinematic calibration for industrial robots using articulated arm coordinate machines

2019 ◽  
Vol 31 (1) ◽  
pp. 16 ◽  
Author(s):  
Guanbin Gao ◽  
Hongwei Zhang ◽  
Hongjun San ◽  
Guoqing Sun ◽  
Xing Wu ◽  
...  
Keyword(s):  
Industrial Robots ◽  
Kinematic Calibration

scholarly journals Kinematic Calibration of Industrial Robots Based on Distance Information Using a Hybrid Identification Method

Complexity ◽  
2021 ◽  
Vol 2021 ◽  
pp. 1-10
Author(s):  
Guanbin Gao ◽  
Yuan Li ◽  
Fei Liu ◽  
Shichang Han
Keyword(s):  
Industrial Robot ◽  
Kinematic Model ◽  
Error Model ◽  
Industrial Robots ◽  
Kinematic Calibration ◽  
Kinematic Parameters ◽  
Distance Information ◽  
End Effector ◽  
Hybrid Identification ◽  
Identification Method

To improve the positioning accuracy of industrial robots and avoid using the coordinates of the end effector, a novel kinematic calibration method based on the distance information is proposed. The kinematic model of an industrial robot is established. The relationship between the moving distance of the end effector and the kinematic parameters is analyzed. Based on the results of the analysis and the kinematic model of the robot, the error model with displacements as the reference is built, which is linearized for the convenience of the following identification. The singular value decomposition (SVD) is used to eliminate the redundant parameters of the error model. To solve the problem that traditional optimization algorithms are easily affected by data noise in high dimension identification, a novel extended Kalman filter (EKF) and regularized particle filter (RPF) hybrid identification method is presented. EKF is used in the preidentification of the linearized error model. With the preidentification results as the initial parameters, RPF is used to identify the kinematic parameters of the linearized error model. Simulations are carried out to validate the effectiveness of the proposed method, which shows that the method can identify the error of the parameters and after compensation the accuracy of the robot is improved.

Sign in / Sign up

Export Citation Format

Share Document