A Robot Calibration Method Based on Virtual Closed Kinematic Chain

2010 ◽  
Vol 139-141 ◽  
pp. 2162-2167
Author(s):  
Tian Qin Wang ◽  
Chang Liu ◽  
Zhen Pu Zhang ◽  
Da Cheng Wang
Keyword(s):  
Genetic Algorithm ◽  
Laser Beam ◽  
Kinematic Chain ◽  
Calibration Method ◽  
Kinematic Parameters ◽  
Robot Calibration ◽  
Straight Line ◽  
Simulating Analysis ◽  
The Absolute ◽  
Calibration Approach

This paper offers a robot calibration approach based on the virtual closed kinematic chain so that the absolute location accuracy of a robot can be improved. The calibration approach suggests that laser beam can be mounted on the robot’s end so as to form a virtual closed kinematic chain in the interest of enlarging the pose errors to proper extent, in this way straight line equations in space can be acquired when the robot positions are changed continuously, in the end the robots’ kinematic parameters can be figured out by genetic algorithm while measurement can be totally avoided in the calibration. Calibrating practices, simulating analysis and experiments on robots show that the approach can improve the absolute calibrating accuracy effectively.

The Calibration of Manipulator Based on Linear Precision

2012 ◽  
Vol 182-183 ◽  
pp. 1545-1548
Author(s):  
Wen Guang Li ◽  
Guang Liang Liu ◽  
Dong Yang ◽  
Tie Chen ◽  
Wei Chen
Keyword(s):  
Simulation Method ◽  
Calibration Method ◽  
Evaluation Function ◽  
Absolute Accuracy ◽  
Kinematic Parameters ◽  
Robot Calibration ◽  
Position And Orientation ◽  
The Absolute

In order to improve the absolute accuracy of the robot, one new simple and inexpensive, yet accurate robot calibration method is presented. The process assumes the robot can move along a line in the robot’s workspace. The actuators remember the angle information of each joint, when the robot moves along the line. The date that obtained by this method, simplify the process of deducing the kinematic parameters. The paper establishes the evaluation function, which demonstrates the fitness degree of the robot’s position and orientation to the line. In the end, simulation method has been adopted to testify the method, and the method is shown simple and feasible.

Parallel topology robot calibration

Robotica ◽  
1997 ◽  
Vol 15 (4) ◽  
pp. 395-398 ◽  
Author(s):  
A. B. Lintott ◽  
G. R. Dunlop
Keyword(s):  
Degrees Of Freedom ◽  
Kinematic Chain ◽  
Calibration Method ◽  
Stewart Platform ◽  
Robot Calibration ◽  
Delta Robot

A calibration method for a Stewart platform has been developed as part of a project aimed at developing a calibration method for a Delta robot. The Delta has 3 degrees of freedom (DOF) but is more complex than the Stewart platform for calibration purposes because an extra link is inserted in each kinematic chain between the base and the Nacelle member.

scholarly journals A calibration method of robot kinematic parameters by drawstring displacement sensor

2019 ◽  
Vol 16 (5) ◽  
pp. 172988141988307 ◽  
Author(s):  
Yahui Gan ◽  
Jinjun Duan ◽  
Xianzhong Dai
Keyword(s):  
Calibration Method ◽  
Industrial Robots ◽  
Displacement Sensor ◽  
Kinematic Parameters ◽  
Position Measurement ◽  
Positioning Accuracy ◽  
End Effector ◽  
Displacement Sensors ◽  
Absolute Positioning ◽  
The Absolute

Calibration of robot kinematic parameters can effectively improve the absolute positioning accuracy of the end-effector for industrial robots. This article proposes a calibration method for robot kinematic parameters based on the drawstring displacement sensor. Firstly, the kinematic error model for articulated robot is established. Based on such a model, the position measurement system consisting of four drawstring displacement sensors is used to measure the actual position of the robot end-effector. Then, the deviation of the kinematic parameters of the robot is identified by the least-squares method according to robot end-effector deviations. The Cartesian space compensation method is adopted to improve the absolute positioning accuracy of the robot end-effecter. By experiments on the EFORT ER3A robot, the absolute positioning accuracy of the robot is significantly improved after calibration, which shows the effectiveness of the proposed method.

A Self-Calibration Method for Robotic Measurement System

1999 ◽  
Author(s):  
Chunhe Gong ◽  
Jingxia Yuan ◽  
Jun Ni
Keyword(s):  
Coordinate System ◽  
Measurement System ◽  
Calibration Method ◽  
Position Measurement ◽  
Robot Calibration ◽  
Robot System ◽  
Self Calibration ◽  
World Coordinate System ◽  
Robot Accuracy ◽  
Calibration Methods

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.

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.

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