A model of tumbling to improve robot accuracy

Vincze, Markus; Gander, H.; Prenninger, J.P.

doi:10.1016/0094-114x(95)00013-o

Cited by 5 publications

(3 citation statements)

References 7 publications

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“…In this work, a technique for improving the accuracy and identifying the kinematics parameters of the PUMA 560 robot was presented and experimental results were evaluated. The development and use of a tumbling technique for directdrive robots and the identification of geometric and encoder errors are discussed in [13]. The authors observe that after the calibration the improved accuracy of the three-dof robot is very close to its repeatability.…”

Section: Literature Surveymentioning

confidence: 90%

On the Accuracy, Repeatability, and Degree of Influence of Kinematics Parameters for Industrial Robots

Shiakolas

Conrad

Yih

2002

International Journal of Modelling and Simulation

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In this article, we discuss industrial robot characteristics of accuracy and repeatability. The factors that affect these characteristics are identified, and an error tree is developed. Subsequently, the accuracy and repeatability are investigated utilizing the Denavit-Hartenberg kinematics parameters, the homogeneous transformation matrix, and the differential transformation matrix theory, and corresponding measures are developed. The formulation indicates that the influence matrices associated with joint variables are constant. A new measure called degree of influence is established that qualitatively assesses the relative contribution of each kinematic parameter variation to the accuracy and repeatability of rigid manipulators. The developed formulation provides for easy evaluation of the degree of influence measures for rigid manipulators in either numerical or symbolic form. A numerical example is included in which the degree of influence of the kinematics parameters for an articulated manipulator, PUMA 560, are evaluated and analysed.

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Section: Literature Surveymentioning

confidence: 90%

On the Accuracy, Repeatability, and Degree of Influence of Kinematics Parameters for Industrial Robots

Shiakolas

Conrad

Yih

2002

International Journal of Modelling and Simulation

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“…With a rotating disc in the end-effector tumbling can be measured (Vincze, 1993). Some simple example tests are given here.…”

Section: Non Geometric Modelsmentioning

confidence: 99%

Advances in Robot Kinematics: Analysis and Control

Lenarčič¹,

Husty²

1998

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“…Thus tumbling affects each parameter in the geometric model. It will most probably be cyclic, therefore, as Vincze showed in [7], constant parameters of the geometric model can be replaced by Fourier series, e.g.…”

Section: Non-linear and Non-geometric Er-mentioning

confidence: 98%

On the calibration of a 6D laser tracking system for contactless, dynamic robot measurements

Spiess

Vincze²,

Ayromlou³

IEEE Instrumentation and Measurement Technology Conference Sensing, Processing, Networking. IMTC Proceedings

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The repeatability of today's robots is at least a magnitude better than their accuracy. A proper tool to improve accuracy provides geometric calibration which needs reliable and accurate measurement data of the actual robot. The single beam Laser Tracking System "Lux Wess" provides an excellent means to obtain these measurements. In this paper we describe the calibration of the geometry of this measurement tool, itselj-. The calibration method is cheap and flexible, no external reference measurements are needed. I n the following we describe the principles of the design of our system and shortly mention why at is superior t o other laser trackers. Then we give a description of the model and the calibration f o r three dimensional measurements. A f a r more detailed discussion of this topic can be found in [I$].

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A model of tumbling to improve robot accuracy

Cited by 5 publications

References 7 publications

On the Accuracy, Repeatability, and Degree of Influence of Kinematics Parameters for Industrial Robots

On the Accuracy, Repeatability, and Degree of Influence of Kinematics Parameters for Industrial Robots

Advances in Robot Kinematics: Analysis and Control

On the calibration of a 6D laser tracking system for contactless, dynamic robot measurements

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