Improving the Accuracy of Robot-Based Measuring System by Calibrating Laser-Stripe Scanner Model and Hand-to-Scanner Transformation

2010 ◽  
Vol 44-47 ◽  
pp. 707-711
Author(s):  
Ai Guo Li ◽  
Xiang Wu ◽  
De Feng Wu ◽  
Wen Biao Wang
Keyword(s):  
Industrial Robot ◽  
Calibration Method ◽  
Reference Points ◽  
Measuring System ◽  
Calibration Error ◽  
Scanning System ◽  
System A ◽  
Laser Stripe ◽  
Object Inspection ◽  
Scanner Calibration

This paper focuses on the system for object inspection by use of a laser stripe scanner and an industrial robot. In order to ensure the precision of the scanning system, a one-stage calibration method is proposed. This scheme mainly utilizes a circular-marked board as calibration target and calibrated the scanner model and hand-to-scanner transformation simultaneously using the same reference points. Therefore the influences of the scanner calibration error on the hand-to-scanner calibration can be eliminated naturedly. Finally, some experimental results are reported and analyzed.

Simultaneous Flatness and Surface Roughness Measurement of a Plastic Sheet Using a Fan-Shaped Laser Beam Scanning System

2008 ◽  
Vol 381-382 ◽  
pp. 233-236 ◽  
Author(s):  
Fang Jung Shiou ◽  
Y.W. Deng
Keyword(s):  
Surface Roughness ◽  
Laser Beam ◽  
Test Object ◽  
Processing System ◽  
Measuring System ◽  
Scanning System ◽  
Beam Scanning ◽  
System A ◽  
Fringe Width ◽  
Laser Beam Scanning

A fan-shaped laser beam scanning measuring system based on the triangulation principle, was newly developed in this study to measure simultaneously the flatness and the surface roughness of a surface plate with good reflectivity after a suitable calibration. The developed system mainly consists of a micro-focus fan-shaped line laser, an image processing system, a PC-based 3-axis machine, and a PC. The height value of the object can be calculated, based on the offset between the position projected onto the object and the position projected onto the platform, after carrying out the height calibration with gauge blocks. According to the scattering theorem, a correlation between the surface roughness of the test object measured with a precision stylus instrument and the average fringe width projected onto the test object surface, has been constructed.

An Automatic Calibration Method in the Crop Architecture 3D Scanner

2011 ◽  
Vol 204-210 ◽  
pp. 493-497
Author(s):  
Sheng Yong Xu ◽  
De Hua Li ◽  
Zhu Li ◽  
Qing Wei
Keyword(s):  
Three Dimensional ◽  
Calibration Method ◽  
Reference Points ◽  
Scanning System ◽  
Automatic Calibration ◽  
Automatic Method ◽  
Essential Work ◽  
3D Scanner ◽  
Average Value ◽  
Calibration Parameters

Calibration is an essential work in three-dimensional scanning system. The operation of existing calibration is complex and tedious. In this paper, we design a DLT-based automatic method of calibration, in which the calibration reference points are detected automatically. Then we can figure out a series of calibration parameters from these points. The average value of all parameters is just the calibration parameters. The experimental results show that the method we proposed is not only guaranteeing the calibration precision but also simplifying the calibration operation comparing with the traditional manual calibration method.

Impact Load Buffering Method Based on Stress Wave Attenuation Principle

2019 ◽  
Vol 11 (02) ◽  
pp. 1950019 ◽  
Author(s):  
Lin Gan ◽  
He Zhang ◽  
Cheng Zhou ◽  
Lin Liu
Keyword(s):  
Stress Wave ◽  
Wave Attenuation ◽  
Impact Load ◽  
Dynamics Simulation ◽  
Scanning System ◽  
Isolation Method ◽  
Element Analysis ◽  
System A ◽  
High Emission ◽  
The Impact

Rotating scanning motor is the important component of synchronous scanning laser fuze. High emission overload environment in the conventional ammunition has a serious impact on the reliability of the motor. Based on the theory that the buffer pad can attenuate the impact stress wave, a new motor buffering Isolation Method is proposed. The dynamical model of the new buffering isolation structure is established by ANSYS infinite element analysis software to do the nonlinear impact dynamics simulation of rotating scanning motor. The effectiveness of Buffering Isolation using different materials is comparatively analyzed. Finally, the Macht hammer impact experiment is done, the results show that in the experience of the 70,000[Formula: see text]g impact acceleration, the new buffering Isolation method can reduce the impact load about 15 times, which can effectively alleviate the plastic deformation of rotational scanning motor and improve the reliability of synchronization scanning system. A new method and theoretical basis of anti-high overload research for Laser Fuze is presented.

Stable Calibrations of Six-DOF Serial Robots by Using Identification Models with Equalized Singular Values

Robotica ◽  
2021 ◽  
pp. 1-22
Author(s):  
Zhouxiang Jiang ◽  
Min Huang
Keyword(s):  
Industrial Robot ◽  
Singular Values ◽  
Calibration Method ◽  
Identification Accuracy ◽  
Condition Numbers ◽  
Measurement Instruments ◽  
Unknown Parameters ◽  
Calibration Methods ◽  
Six Dof ◽  
The Stability

SUMMARY In typical calibration methods (kinematic or non-kinematic) for serial industrial robot, though measurement instruments with high resolutions are adopted, measurement configurations are optimized, and redundant parameters are eliminated from identification model, calibration accuracy is still limited under measurement noise. This might be because huge gaps still exist among the singular values of typical identification Jacobians, thereby causing the identification models ill conditioned. This paper addresses such problem by using new identification models established in two steps. First, the typical models are divided into the submodels with truncated singular values. In this way, the unknown parameters corresponding to the abnormal singular values are removed, thereby reducing the condition numbers of the new submodels. However, these models might still be ill conditioned. Therefore, the second step is to further centralize the singular values of each submodel by using a matrix balance method. Afterward, all submodels are well conditioned and obtain much higher observability indices compared with those of typical models. Simulation results indicate that significant improvements in the stability of identification results and the identifiability of unknown parameters are acquired by using the new identification submodels. Experimental results indicate that the proposed calibration method increases the identification accuracy without incurring additional hardware setup costs to the typical calibration method.

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.

Tire-Road Friction Measuring System — A Second Generation

1968 ◽  
Author(s):  
Gary L. Goodenow ◽  
Thomas R. Kolhoff ◽  
Fraser D. Smithson
Keyword(s):  
Second Generation ◽  
Measuring System ◽  
System A ◽  
Road Friction
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