scholarly journals Kinematic Calibration of Articulated Arm Coordinate Measuring Machines and Robot Arms Using Passive and Active Self-Centering Probes and Multipose Optimization Algorithm Based in Point and Length Constrains

10.5772/9345 ◽  
2010 ◽  
Author(s):  
Jorge Santolaria ◽  
Juan Jose
Keyword(s):  
Optimization Algorithm ◽  
Kinematic Calibration ◽  
Coordinate Measuring Machines ◽  
Robot Arms

Comparison of GA, ACO algorithm, and PSO algorithm for path optimization on free-form surfaces using coordinate measuring machines

2021 ◽  
Author(s):  
Yueping Chen ◽  
Naiqi Shang
Keyword(s):  
Optimization Algorithm ◽  
Ant Colony Algorithm ◽  
Ant Colony ◽  
Path Optimization ◽  
Inspection Time ◽  
Free Form ◽  
Coordinate Measuring Machines ◽  
Ant Colony Optimization Algorithm ◽  
Measuring Machine ◽  
Free Form Surfaces

Abstract Coordinate measuring machines (CMMs) play an important role in modern manufacturing and inspection technologies. However, the inspection process of a CMM is recognized as time-consuming work. The low efficiency of coordinate measuring machines has given rise to new inspection strategies and methods, including path optimization. This study describes the optimization of an inspection path on free-form surfaces using three different algorithms: an ant colony optimization algorithm, a genetic algorithm, and a particle swarm optimization algorithm. The optimized sequence of sampling points is obtained in MATLAB R2020b software and tested on a Leitz Reference HP Bridge Type Coordinate Measuring Machine produced by HEXAGON. This study compares the performance of the three algorithms in theoretical and practical conditions. The results demonstrate that the use of the three algorithms can result in a collision-free path being found automatically and reduce the inspection time. However, owing to the different optimization methodologies, the optimized processes and optimized times of the three algorithms, as well as the optimized paths, are different. The results indicate that the ant colony algorithm has better performance for the path optimization of free-form surfaces.

Evaluation of Techniques to Capture Nominal Data for Verification and Kinematic Calibration of Articulated Arm Coordinate Measuring Machines

2009 ◽  
Author(s):  
Jorge Santolaria ◽  
Agustín Brau ◽  
Francisco Javier Brosed ◽  
Juan José Aguilar ◽  
Vicente Jesus Segui
Keyword(s):  
Kinematic Calibration ◽  
Coordinate Measuring Machines ◽  
Nominal Data

Kinematic Calibration for Redundantly Actuated Parallel Mechanisms

2004 ◽  
Vol 126 (2) ◽  
pp. 307-318 ◽  
Author(s):  
Jay il Jeong ◽  
Dongsoo Kang ◽  
Young Man Cho ◽  
Jongwon Kim
Keyword(s):  
Optimization Algorithm ◽  
Parallel Mechanism ◽  
Kinematic Calibration ◽  
Parallel Mechanisms ◽  
Geometrical Constraint ◽  
Kinematic Parameters ◽  
Angle Error ◽  
Calibration Algorithm ◽  
Redundantly Actuated

We present a new kinematic calibration algorithm for redundantly actuated parallel mechanisms, and illustrate the algorithm with a case study of a planar seven-element 2-degree-of-freedom (DOF) mechanism with three actuators. To calibrate a nonredundantly actuated parallel mechanism, one can find actual kinematic parameters by means of geometrical constraint of the mechanism’s kinematic structure and measurement values. However, the calibration algorithm for a nonredundant case does not apply for a redundantly actuated parallel mechanism, because the angle error of the actuating joint varies with position and the geometrical constraint fails to be consistent. Such change of joint angle error comes from constraint torque variation with each kinematic pose (meaning position and orientation). To calibrate a redundant parallel mechanism, one therefore has to consider constraint torque equilibrium and the relationship of constraint torque to torsional deflection, in addition to geometric constraint. In this paper, we develop the calibration algorithm for a redundantly actuated parallel mechanism using these three relationships, and formulate cost functions for an optimization algorithm. As a case study, we executed the calibration of a 2-DOF parallel mechanism using the developed algorithm. Coordinate values of tool plate were measured using a laser ball bar and the actual kinematic parameters were identified with a new cost function of the optimization algorithm. Experimental results showed that the accuracy of the tool plate improved by 82% after kinematic calibration in a redundant actuation case.

A Kinematic Calibration Method of the Articulated Arm Coordinate Measuring Machine Using Niching Chaos Optimization Algorithm

2018 ◽  
Vol 48 (4) ◽  
pp. 20180174
Author(s):  
Cholmin Rim ◽  
Chang-Hyon Rim ◽  
Gang Chen ◽  
Yongchol Sin ◽  
Kukchol Kim
Keyword(s):  
Optimization Algorithm ◽  
Coordinate Measuring Machine ◽  
Calibration Method ◽  
Kinematic Calibration ◽  
Chaos Optimization ◽  
Chaos Optimization Algorithm ◽  
Measuring Machine

scholarly journals Modelling and Calibration Technique of Laser Triangulation Sensors for Integration in Robot Arms and Articulated Arm Coordinate Measuring Machines

Sensors ◽  
2009 ◽  
Vol 9 (9) ◽  
pp. 7374-7396 ◽  
Author(s):  
Jorge Santolaria ◽  
David Guillomía ◽  
Carlos Cajal ◽  
José Albajez ◽  
Juan Aguilar
Keyword(s):  
Laser Triangulation ◽  
Coordinate Measuring Machines ◽  
Calibration Technique ◽  
Robot Arms

Kinematic Calibration for Redundantly Actuated Parallel Mechanisms: Theory and Application for 2-DOF Mechanism

2004 ◽  
Author(s):  
Jay il Jeong ◽  
Dongsoo Kang ◽  
Jongwon Kim
Keyword(s):  
Optimization Algorithm ◽  
Parallel Mechanism ◽  
Kinematic Calibration ◽  
Parallel Mechanisms ◽  
Angle Error ◽  
Calibration Algorithm ◽  
Redundantly Actuated ◽  
Relationship Of ◽  
The Relationship

We present a new kinematic calibration algorithm for redundantly actuated parallel mechanisms. The calibration algorithm for a non-redundant case does not apply for a redundantly actuated parallel mechanism, because the angle error of the actuating joint varies with position and the geometrical constraint fails to be consistent. Such change of joint angle error comes from constraint torque variation with each kinematic pose. To calibrate a redundant parallel mechanism, one therefore has to consider constraint torque equilibrium and the relationship of constraint torque to torsional deflection, in addition to geometric constraint. In this paper, we develop the calibration algorithm for a redundantly actuated parallel mechanism using these three relationships, and formulate cost functions for an optimization algorithm. As a case study, we executed the calibration of a 2-degree of freedom (DOF) parallel mechanism with three actuators using the developed algorithm. Coordinate values of tool plate were measured using a laser ball bar and the actual kinematic parameters were identified with a new cost function of the optimization algorithm. Experimental results showed that the accuracy of the tool plate improved by 82% after kinematic calibration in a redundant actuation case.

Particle Swarm Optimization Algorithm for Machine Loading Problem in F.m.s

2011 ◽  
Vol 4 (8) ◽  
pp. 261-263
Author(s):  
A. Somaiah A. Somaiah ◽  
◽  
Dr. M. Indira Rani ◽  
Ch. Varun Kumar
Keyword(s):  
Particle Swarm Optimization ◽  
Optimization Algorithm ◽  
Particle Swarm Optimization Algorithm ◽  
Particle Swarm ◽  
Swarm Optimization ◽  
Machine Loading ◽  
Loading Problem

Autonomous Distributed Optimization Algorithm for Intelligent Lighting System

2010 ◽  
Vol 130 (5) ◽  
pp. 750-757 ◽  
Author(s):  
Keiko Ono ◽  
Mitsunori Miki ◽  
Motoi Yonezawa
Keyword(s):  
Optimization Algorithm ◽  
Distributed Optimization ◽  
Lighting System
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