A New Manipulator Calibration Method for the Identification of Kinematic and Compliance Errors Using Optimal Pose Selection

Le, Phu-Nguyen; Kang, Hyejin

doi:10.3390/app12115422

Cited by 3 publications

(1 citation statement)

References 35 publications

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“…Current research on industrial robots based on trajectory planning algorithms and kinematics is focused on path design and control systems [3]. Moderate trajectory design can improve the stability and quality of the robot and extend its lifetime.…”

Section: Introductionmentioning

confidence: 99%

Mechanical Design Method and Joint Simulation Analysis of Industrial Robots Based on Trajectory Planning Algorithm and Kinematics

Feng,

Wang,

2023

ICST Transactions on Scalable Information Systems

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INTRODUCTION: At present, the development level of industrial robots is getting higher and higher, but the research on the involvement of high-level industrial robots as well as trajectory planning algorithms in China is limited. It is increasingly important to integrate the theory of kinematics in the development of industrial robots. Some industrial robots have welding, assembly and other characteristics, and play an immeasurable role in national defence, manufacturing and other fields. OBJECTIVES: With the development of China's industry, the manufacturing industry is changing from traditional manufacturing to intelligent manufacturing. Industrial robots have become an important tool for "intelligent manufacturing" and an important strategic emerging industry to improve the adaptability and competitiveness of the industrial market. METHODS: This paper provides an in-depth study of the mechanical design methodology and joint simulation analysis of industrial robots based on trajectory planning algorithms and kinematics. RESULTS: Research on intelligent observation, virtual reality flight trajectory and autonomous real-time flight trajectory design based on flight trajectory machines, which have made important contributions to the improvement of flight trajectory design. The wide application of industrial robots provides good development opportunities and broad market demand for industrial robot design. CONCLUSION: Since the reform and opening up, China's manufacturing industry has made significant progress in machinery, standardization, automation, informatization and other aspects of industrial production, but the development of China's manufacturing industry faces the problem of labour shortage. An effective way to solve this problem is to innovate, update and modernize the manufacturing industry.

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Section: Introductionmentioning

confidence: 99%

Mechanical Design Method and Joint Simulation Analysis of Industrial Robots Based on Trajectory Planning Algorithm and Kinematics

Feng,

Wang,

2023

ICST Transactions on Scalable Information Systems

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Error Similarity Analysis and Error Compensation of Industrial Robots with Uncertainties of TCP Calibration

Zhao³

et al. 2023

Applied Sciences

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The machining system based on an industrial robot is a new type of equipment to meet the requirements of high quality, high efficiency and high flexibility for large and complex components of aircraft and spacecraft. The error compensation technology is widely used in robotic machining to improve the positioning accuracy of an industrial robot with the intention of meeting the precision requirements of aerospace manufacturing. However, the robot’s positioning accuracy decreases significantly when the orientation of the tool changes dramatically. This stems from the fact that the existing robot compensation methods ignore the uncertainties of Tool Center Point (TCP) calibration. This paper presents a novel regionalized compensation method for improving the positioning accuracy of the robot with calibration uncertainties and large orientation variation of the TCP. The method is experimentally validated through the drilling of curved surface parts of plexiglass using a KUKA KR2830MT robot. Compared with a published error compensation method, the proposed approach improves the positioning accuracy of the robot under the large orientation variation to 0.235 mm. This research can broaden the field of robot calibration technology and further improve the adaptability of robotic machining.

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Kinematic Calibration Method for Six-Hardpoint Positioning Mechanisms Using Optimal Measurement Pose

Wang

2023

Applied Sciences

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In this study, a kinematic calibration method is proposed. The method selects the optimal measurement poses based on the observability index O1, and is used for six-hardpoint positioning mechanisms, which can identify and compensate for kinematic parameter errors of the mechanism. The calibration method is based on the derived error model. In order to improve the problem that measurement noise affects calibration accuracy, the proposed calibration method selects specific poses for calibration based on the observability index O1, effectively improving the calibration accuracy. The reason for using O1 is that we compared the performance of the five observability indices through simulation, and the results show that the calibration based on O1 has the highest accuracy. In order to achieve pose selection based on observability indices, the DETMAX algorithm has been improved to achieve better performance of selection. Finally, an overall evaluation of the proposed calibration method is conducted, and the results show that the method can accurately identify kinematic parameter errors, with a fast error convergence speed. Compared with the traditional method, the proposed method has higher accuracy, reducing the mean position error by 78.4% and the mean attitude error by 70.6%. The proposed method is instrumental in the accurate kinematic calibration of six-hardpoint positioning mechanisms, and can effectively improve the accuracy of the mechanism, thus improving the pose accuracy of the primary mirror of the ground-based large aperture telescope.

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A New Manipulator Calibration Method for the Identification of Kinematic and Compliance Errors Using Optimal Pose Selection

Cited by 3 publications

References 35 publications

Mechanical Design Method and Joint Simulation Analysis of Industrial Robots Based on Trajectory Planning Algorithm and Kinematics

Mechanical Design Method and Joint Simulation Analysis of Industrial Robots Based on Trajectory Planning Algorithm and Kinematics

Error Similarity Analysis and Error Compensation of Industrial Robots with Uncertainties of TCP Calibration

Kinematic Calibration Method for Six-Hardpoint Positioning Mechanisms Using Optimal Measurement Pose

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