Error Modeling and Analysis of Articulated Arm Coordinate Measuring Machines

2013 ◽  
Vol 798-799 ◽  
pp. 464-467
Author(s):  
Jian Lu ◽  
Guan Bin Gao ◽  
Hui Ping Yang
Keyword(s):  
Kinematic Model ◽  
Coordinate Measuring Machine ◽  
Calibration Method ◽  
Error Model ◽  
Error Modeling ◽  
Modeling And Analysis ◽  
Low Weight ◽  
New Type ◽  
Measuring Machine ◽  
Value Decomposition

The Articulated Arm Coordinate Measuring Machine (AACMM) is a new type of non-orthogonal system precision instrument with the advantages of large measuring range, small volume, low weight and portability. To improve the measurement accuracy of AACMMs, an error analysis and calibration method for AACMMs is proposed. The kinematic model of the AACMM was established with D-H model, and then the error model of the AACMM was established on the basis of kinematic model with total differential transforming method and the singular value decomposition of Jacobian matrix and the decomposition of orthogonal matrix elementary row transform. Finally, the error model was validated by position error residual calculation. The error model provides a theoretical foundation for calibration and compensation of the AACMM.

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.

Kinematic Modeling and Analysis of Articulated Arm Coordinate Measuring Machines

2012 ◽  
Vol 241-244 ◽  
pp. 494-497
Author(s):  
Guan Bin Gao ◽  
Wen Wang ◽  
Hong Qiang Li ◽  
Jian Jun Zhou
Keyword(s):  
Structural Characteristics ◽  
Structural Parameters ◽  
Kinematic Model ◽  
Coordinate Measuring Machine ◽  
Measurement Range ◽  
Kinematic Modeling ◽  
Modeling And Analysis ◽  
Graphical Simulation ◽  
Measuring Machine ◽  
Numerical Computing

The articulated arm coordinate measuring machine (AACMM) is a new type coordinate measuring machine (CMM) base on the linkage structure with the characteristics of small size, light weight, large measurement range and flexible movement. The kinematic modeling methods of six degree of freedom (6-DOF) AACMMs are studied in this paper. By analyzing the structural characteristics of AACMMs the kinematic model of a 6-DOF AACMM with DH method was established. From the kinematic model the coordinate systems and structural parameters of the AACMM are obtained. Then the homogeneous transformation matrixes from the probe to the base of the AACMM are derived. Finally, methods of numerical computing and graphical simulation are used in verifying the kinematic model. The kinematic model provides a basis for measurement, calibration and error compensation of the AACMM.

CCD Camera Calibration Technology Based on the Translation of Coordinate Measuring Machine

2014 ◽  
Vol 568-570 ◽  
pp. 320-325 ◽  
Author(s):  
Feng Shan Huang ◽  
Li Chen
Keyword(s):  
Coordinate System ◽  
Camera Calibration ◽  
Characteristic Point ◽  
Coordinate Measuring Machine ◽  
Ccd Camera ◽  
Mathematic Model ◽  
Calibration Method ◽  
Calibration Characteristic ◽  
Standard Sphere ◽  
Measuring Machine

A new CCD camera calibration method based on the translation of Coordinate Measuring Machine (CMM) is proposed. The CMM brings the CCD camera to produce the relative translation with respect to the center of the white ceramic standard sphere along the X, Y, Z axis, and the coordinates of the different positions of the calibration characteristic point in the probe coordinate system can be generated. Meanwhile, the camera captures the image of the white ceramic standard sphere at every position, and the coordinates of the calibration characteristic point in the computer frame coordinate system can be registered. The calibration mathematic model was established, and the calibration steps were given and the calibration system was set up. The comparing calibration result shows that precision of this method is equivalent to that of the special calibration method, and the difference between the calibrating data of these two methods is within ±1μm.

Fitting Weighted Total Least-Squares Planes and Parallel Planes to Support Tolerancing Standards

2012 ◽  
Author(s):  
Craig M. Shakarji ◽  
Vijay Srinivasan
Keyword(s):  
Least Squares ◽  
Point Contact ◽  
Coordinate Measuring Machine ◽  
Total Least Squares ◽  
Point Sampling ◽  
Least Squares Fitting ◽  
Weighted Total Least Squares ◽  
Measuring Machine ◽  
Fitting In ◽  
Value Decomposition

We present elegant algorithms for fitting a plane, two parallel planes (corresponding to a slot or a slab) or many parallel planes in a total (orthogonal) least-squares sense to coordinate data that is weighted. Each of these problems is reduced to a simple 3×3 matrix eigenvalue/eigenvector problem or an equivalent singular value decomposition problem, which can be solved using reliable and readily available commercial software. These methods were numerically verified by comparing them with brute-force minimization searches. We demonstrate the need for such weighted total least-squares fitting in coordinate metrology to support new and emerging tolerancing standards, for instance, ISO 14405-1:2010. The widespread practice of unweighted fitting works well enough when point sampling is controlled and can be made uniform (e.g., using a discrete point contact Coordinate Measuring Machine). However, we demonstrate that nonuniformly sampled points (arising from many new measurement technologies) coupled with unweighted least-squares fitting can lead to erroneous results. When needed, the algorithms presented also solve the unweighted cases simply by assigning the value one to each weight. We additionally prove convergence from the discrete to continuous cases of least-squares fitting as the point sampling becomes dense.

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.

Calibration and Compensation of Dynamic Abbe Errors of a Coordinate Measuring Machine

2017 ◽  
Vol 140 (5) ◽  
Author(s):  
Daocheng Yuan ◽  
Xin Tao ◽  
Caijun Xie ◽  
Huiying Zhao ◽  
Dongxu Ren ◽  
...  
Keyword(s):  
Error Compensation ◽  
Dynamic Error ◽  
Coordinate Measuring Machine ◽  
Calibration Method ◽  
Local Dynamic ◽  
Operational Parameters ◽  
Dynamic Errors ◽  
Measuring Machine ◽  
Reducing Costs ◽  
Improving Accuracy

Error compensation technology is used for improving accuracy and reducing costs. Dynamic error compensation techniques of coordinate measuring machine (CMM) are still under study; the major problem is a lack of suitable models, which would be able to correctly and simply relate the dynamic errors with the structural and operational parameters. To avoid the complexity of local dynamic deformation measurement and modeling, a comprehensive calibration method is employed. Experimental research reveals specific qualities of dynamic Abbe errors; the results exceed the scope of ISO 10360-2 calibration method, showing the ISO 10360-2 dynamic error evaluation deficiencies. For calibrating the dynamic Abbe errors, the differential measurement method is presented based on the measurements of the internal and external dimensions. Referring probe tip radius correction, the dynamic Abbe errors compensation method is proposed for CMM end-users and is easy to use.

A Calibration Method for a Three-Degrees-of-Freedom Parallel Manipulator with a Redundant Passive Chain

2012 ◽  
Vol 162 ◽  
pp. 171-178 ◽  
Author(s):  
Takaaki Oiwa ◽  
Harunaho Daido ◽  
Junichi Asama
Keyword(s):  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Least Squares Method ◽  
Coordinate Measuring Machine ◽  
Calibration Method ◽  
Displacement Sensor ◽  
Measurement Experiment ◽  
Measuring Machine ◽  
Measured Length ◽  
Three Degrees Of Freedom

This paper deals with parameter identification for a three-degrees-of-freedom (3-DOF) parallel manipulator, based on measurement redundancy. A redundant passive chain with a displacement sensor connects the moving stage to the machine frame. The passive chain is sequentially placed in three directions at approximately right angles to one another to reliably detect the motion of the stage. Linear encoders measure changes in lengths of the passive chain and the three actuated chains of the manipulator during traveling of the moving stage. Comparison between the measured length and the length calculated from forward kinematics of the 3-DOF manipulator reveals a length error of the passive chain. The least-squares method using a Jacobian matrix corrects 27 kinematic parameters so that the length errors of the passive chain are minimized. The above calculations were accomplished in both numerical simulations and experiments employing a coordinate measuring machine based on the parallel manipulator. Moreover, a length measurement simulation of gauge block measurement and a measurement experiment using the measuring machine were performed to verify the identified parameters.

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