Error Analysis of 6-DOF Welding Robot

2012 ◽  
Vol 220-223 ◽  
pp. 1111-1115
Author(s):  
Cai Dong Wang ◽  
Xin Jie Wang ◽  
Xue Dong Chen ◽  
Chao Hui Zhang
Keyword(s):  
High Efficiency ◽  
Manufacturing Sector ◽  
Differential Method ◽  
Error Model ◽  
Joint Movement ◽  
Welding Robot ◽  
Quality Stability ◽  
Robot Configuration ◽  
Six Degree Of Freedom ◽  
Robot Position

Welding robot has the advantages that welding quality stability, high efficiency, improving the working conditions of workers, and it is widely applied in the manufacturing sector. A six degree of freedom welding robot configuration is presented in this paper. The kinematics model of the robot is established by DH method and its kinematics was analyzed. At last the error model of the position-pose of the robot end-effecter, produced by the influence of robot joint movement variables deviation and structure deviation, was established by the differential method. The deviation influence on the end-effecter was analyzed by numerical simulation. The results prove the error model is right, and they will provide a reliable basis for robot position error compensation and accuracy optimum design.

scholarly journals Research of Calibration Method for Industrial Robot Based on Error Model of Position

2021 ◽  
Vol 11 (3) ◽  
pp. 1287
Author(s):  
Tianyan Chen ◽  
Jinsong Lin ◽  
Deyu Wu ◽  
Haibin Wu
Keyword(s):  
Coordinate System ◽  
Industrial Robot ◽  
Calibration Method ◽  
Error Model ◽  
Position Error ◽  
Industrial Robots ◽  
Positioning Error ◽  
Robot Position ◽  
General Measurement ◽  
Parameter Error

Based on the current situation of high precision and comparatively low APA (absolute positioning accuracy) in industrial robots, a calibration method to enhance the APA of industrial robots is proposed. In view of the "hidden" characteristics of the RBCS (robot base coordinate system) and the FCS (flange coordinate system) in the measurement process, a comparatively general measurement and calibration method of the RBCS and the FCS is proposed, and the source of the robot terminal position error is classified into three aspects: positioning error of industrial RBCS, kinematics parameter error of manipulator, and positioning error of industrial robot end FCS. The robot position error model is established, and the relation equation of the robot end position error and the industrial robot model parameter error is deduced. By solving the equation, the parameter error identification and the supplementary results are obtained, and the method of compensating the error by using the robot joint angle is realized. The Leica laser tracker is used to verify the calibration method on ABB IRB120 industrial robot. The experimental results show that the calibration method can effectively enhance the APA of the robot.

Contour Extraction of Cerebrovascular Based on Maximum Optimization Cost

2011 ◽  
Vol 204-210 ◽  
pp. 1415-1418
Author(s):  
De Jiang Zhang ◽  
Na Na Dong ◽  
Xiao Mei Lin
Keyword(s):  
Dynamic Programming ◽  
Blood Vessel ◽  
High Efficiency ◽  
High Accuracy ◽  
Differential Method ◽  
Cost Curve ◽  
Contour Extraction ◽  
Target Image ◽  
The Cost ◽  
Conventional Algorithm

By studying the conventional algorithm of contour extraction, a new method of contour extraction in blood vessel of brain is proposed based on the MOC maximum optimization cost. First of all, the theory computes the gray differential of the image by conventional differential method to build the cost space. Then, by using dynamic programming theory, the maximum optimization cost curve in the space is extracted to serve as the specific cerebrovascular profile. The experiments show that this method ensures high efficiency in extracting cerebrovascular contour and a high accuracy in positioning cerebrovascular contour, and it diminishes the target image ambiguity caused by noise to improve the anti-interference ability of Contour extraction.

Development of six-DOF welding robot with machine vision

2018 ◽  
Vol 32 (34n36) ◽  
pp. 1840079
Author(s):  
Wensheng Huang ◽  
Hongli Xu
Keyword(s):  
Machine Vision ◽  
High Speed ◽  
Degrees Of Freedom ◽  
High Efficiency ◽  
Target Location ◽  
Industrial Robots ◽  
Welding Robot ◽  
Edge Pixel ◽  
Six Dof ◽  
Hardware Processing

The application of machine vision to industrial robots is a hot topic in robot research nowadays. A welding robot with machine vision had been developed, which is convenient and flexible to reach the welding point with six degrees-of-freedom (DOF) manipulator, while the singularity of its movement trail is prevented, and the stability of the mechanism had been fully guaranteed. As the precise industry camera can capture the optical feature of the workpiece to reflect in the camera’s CCD lens, the workpiece is identified and located through a visual pattern recognition algorithm based on gray scale processing, on the gradient direction of edge pixel or on geometric element so that high-speed visual acquisition, image preprocessing, feature extraction and recognition, target location are integrated and hardware processing power is improved. Another task is to plan control strategy of control system, and the upper computer software is programmed in order that multi-axis motion trajectory is optimized and servo control is accomplished. Finally, prototype was developed and validation experiments show that the welding robot has high stability, high efficiency, high precision, even if welding joints are random and workpiece contour is irregular.

Kinematic Modeling and Error Analysis for a 3DOF Parallel-Link Coordinate Measuring Machine

2006 ◽  
Vol 532-533 ◽  
pp. 313-316 ◽  
Author(s):  
De Jun Liu ◽  
Hua Qing Liang ◽  
Hong Dong Yin ◽  
Bu Ren Qian
Keyword(s):  
Kinematic Model ◽  
Coordinate Measuring Machine ◽  
Inverse Kinematic ◽  
Differential Method ◽  
Error Model ◽  
Structural Parameter ◽  
Kinematic Modeling ◽  
Position Errors ◽  
Measuring Machine ◽  
Parallel Link

First, the forward kinematic model, the inverse kinematic model and the error model of a kind of coordinate measuring machine (CMM) using 3-DOF parallel-link mechanism are established based on the spatial mechanics theory and the total differential method, and the error model is verified by computer simulation. Then, the influence of structural parameter errors on probe position errors is systematically considered. This research provides an essential theoretical basis for increasing the measuring accuracy of the parallel-link coordinate measuring machine. It is of particular importance to develop the prototype of the new measuring equipment.

scholarly journals Efficient and Safe Robotic Autonomous Environment Exploration Using Integrated Frontier Detection and Multiple Path Evaluation

2021 ◽  
Vol 13 (23) ◽  
pp. 4881
Author(s):  
Yuxi Sun ◽  
Chengrui Zhang
Keyword(s):  
High Efficiency ◽  
Optimal Path ◽  
Optimization Strategy ◽  
Autonomous Exploration ◽  
Distance Map ◽  
Complete Mapping ◽  
Smooth Path ◽  
Multiple Paths ◽  
Systematic Solution ◽  
Robot Position

Autonomous exploration and remote sensing using robots have gained increasing attention in recent years and aims to maximize information collection regarding the external world without human intervention. However, incomplete frontier detection, an inability to eliminate inefficient frontiers, and incomplete evaluation limit further improvements in autonomous exploration efficiency. This article provides a systematic solution for ground mobile robot exploration with high efficiency. Firstly, an integrated frontier detection and maintenance method is proposed, which incrementally discovers potential frontiers and achieves incremental maintenance of the safe and informative frontiers by updating the distance map locally. Secondly, we propose a novel multiple paths planning method to generate multiple paths from the robot position to the unexplored frontiers. Then, we use the proposed utility function to select the optimal path and improve its smoothness using an iterative optimization strategy. Ultimately, the model predictive control (MPC) method is applied to track the smooth path. Simulation experiments on typical environments demonstrate that compared with the benchmark methods, the proposed method reduce the path length by 27.07% and the exploration time by 27.09% on average. The real-world experimental results also reveal that our proposed method can achieve complete mapping with fewer repetitive paths.

Error Model and Simulation to Arbitrary Point of Automobile Panels in Normal Mechanical Parameter Measurement Instrument

2010 ◽  
Vol 152-153 ◽  
pp. 263-268
Author(s):  
Zhen Zhong Sun ◽  
Zeng Hong ◽  
Sheng Gui Chen
Keyword(s):  
Measurement Instrument ◽  
Arbitrary Point ◽  
Differential Method ◽  
Error Model ◽  
Parameter Measurement ◽  
Mechanical Parameter ◽  
Measuring Error ◽  
Model And Simulation ◽  
Total Differential ◽  
Model Transform

By using homogenous coordinate transformation principle and Denavit-Hartenberg analysis method, a measurement kinematics model and a error model to arbitrary point of automobile panels in normal mechanical parameter measurement instrument, which the movement of the probe center is relative to machine reference frame is construct. On the basis of using wielding matrix function total differential method, building up the error delivery relation of parameter error of measuring motion model transform to the probe center, and having verified what be built the error model correctness by simulation. The error is enlarge mainly in the process of delivery from angle error, while length error are very minor in error effects. This research can establish a base for studying the measuring-error of portable type measures instrument and it's measuring accuracy.

Plastic Mould Design Optimization Method Research Based on the Reverse Engineering Technology

2013 ◽  
Vol 278-280 ◽  
pp. 2261-2264
Author(s):  
Heng Ya Guo
Keyword(s):  
Reverse Engineering ◽  
Product Design ◽  
Optimization Design ◽  
High Efficiency ◽  
Manufacturing Sector ◽  
Rapid Development ◽  
Optimization Method ◽  
Engineering Technology ◽  
Mould Design ◽  
Plastic Mould

Reverse engineering technology has been rapid development in complex product manufacturing sector because of its high efficiency and precision,etc. Compared with the traditional plastic mould CAD technology, using reverse engineering technology can further shorten product design cycle, improve the design efficiency of development, and it is the technical inheritance, application, reference and innovation product design to the existing product . This article integrated applies the reverse engineering technology to achieve product optimization design and corresponding plastic mold development based on the actual example.This technique can reduce the product design time, avoid repetition design, reduce the number of design and processing time, reduce the cost of each link, and can significantly improve the economic benefit of products.

scholarly journals A tuned vibration absorber constituted of shape memory alloy wires for vibration reduction of platform structures: design and implementation

2018 ◽  
Vol 185 ◽  
pp. 00013
Author(s):  
Yun-Ting Liao ◽  
Jia-Hong Lin ◽  
Chun-Ying Lee
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
High Efficiency ◽  
Vibration Reduction ◽  
Vibration Absorber ◽  
Practical Applications ◽  
Operation Conditions ◽  
Tunable Frequency ◽  
Six Degree Of Freedom ◽  
Tuned Vibration Absorber

Machinery can suffer from mechanical vibrations since resonance may be generated from time-varying external excitations under different operation conditions. These detrimental vibrations may significantly influence the device's performance, effectiveness and reliability in operation. In this paper, an innovative, simple and high-efficiency tuned vibration absorber (TVA) consisting of shape memory alloy (SMA) wires, which is referred to a wire-type tuned vibration absorber (WTVA), is proposed to reduce the induced vibration. Experiments are carried out using a six-degree-of-freedom platform which is designed to simulate the frame of precision machinery in practical applications. With the equivalent stiffness of SMA wires adjusted by the controlled electric current, the frequency tunability of WTVA can be achieved. When the natural frequency of WTVA tuned in with the disturbance frequency, the experimental results demonstrate that the efficiency in vibration reduction of the platform is drastically increased even with considerable weight difference between WTVA and the platform. Moreover, the tunable frequency span also increases greatly due to the new design of WTVA and the material characteristics of SMA wires.

Error Analysis of a Non-Contact Parallel Plane Sensor Based on Monte Carlo Method

2014 ◽  
Vol 1022 ◽  
pp. 96-99 ◽  
Author(s):  
Le Ha ◽  
Li Jin Fang
Keyword(s):  
Monte Carlo ◽  
Monte Carlo Method ◽  
High Precision ◽  
Measuring Method ◽  
Differential Method ◽  
Error Model ◽  
High Precision Measurement ◽  
The Monte Carlo Method ◽  
Frequency Distribution Histogram ◽  
Measurement Object

In the project of testing platform, characteristics of the measured object are framework. In view of the difficulties of non-contact high-precision measurement of the planar motion objects, an innovative measuring method is proposed which is based on the combined using of high-precision laser distance sensors. This paper presents the structure of the new sensor and its measuring principle, and established a mathematical model of the measurement object and its error model by using differential method. We use the Monte Carlo method to random sample the random sampling of random variables of the error model; finally combining with the instance; we use the Monte Carlo method to get frequency distribution histogram of the measurement error. Through analysis and calculation of this paper, we prepare for theory for the practical application of this new type of sensor.

Measuring the performance of small, medium and large manufacturing in Punjab: A bootstrapped Malmquist index analysis

2020 ◽  
Author(s):  
Asim Iqbal ◽  
Rana Tahir Naveed ◽  
Ahmad Mohmad Albassami ◽  
MahsaMoshfegyan
Keyword(s):  
Large Scale ◽  
Manufacturing Industry ◽  
High Efficiency ◽  
Manufacturing Sector ◽  
New Technology ◽  
Malmquist Index ◽  
Manufacturing Industries ◽  
Scale Efficiency ◽  
Productivity Change ◽  
Operation And Management

The manufacturing sector has played a pivotal role for the development of the economies. It generates jobs, earn foreign reserves by exports and serves domestic economy as well. Given the importance of manufacturing sector, the performance measurement of this sector has been the main interest of economists, researchers and policymakers. The objective of the present study is to measure the performance of small, medium and large scale manufacturing industries. We utilized non-parametric approach to measure the performance by using survey panel data during 1995-2005. Further, for hypotheses testing, we use bootstrapping approach to test the null of insignificant change in the performance measures. We found that small and large scale manufacturing industries do not significantly change their technological frontier during the study period, while, both are highly efficient due to the better operation and management. Further, for high efficiency, the contribution of scale efficiency is larger as compare to the operation and management in case of large scale manufacturing industries. On the other hand, medium scale industries significantly shifted their technological frontier and adopted new technology or innovations, this sector is also efficient due to the better operation and management. However, the performance of all these manufacturing industries in terms of productivity change is not satisfactory. We conclude that by and large, the manufacturing industry has been endeavoring to improve its efficiency by expanding production with the help of available resources and administrative strategies. The conspicuous element is that the firms are reluctant to put resources into R&D which can shift production frontier upward. Keywords: Small, Medium and Large manufacturing, Performance, DEA, Bootstrapping, Punjab

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