A Rapid Coordinate Transformation Method Applied in Industrial Robot Calibration Based on Characteristic Line Coincidence

Liu, Bailing; Zhang, Fumin; Qu, Xinghua; Shi, Xiaojia

doi:10.3390/s16020239

Cited by 21 publications

(17 citation statements)

References 10 publications

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“…According to the weld overlaying requirements, the strokes of x-and y-axes are analyzed and calculated. The coordinates and transformations of the welding torch were computed using the inverse kinematic theory [24].…”

Section: Mathematical Analysis Of the Automatic Welding Mechanismsmentioning

confidence: 99%

Development of an Automatic Welding System for the Boiler Tube Walls Weld Overlay

Tian

Saifan

Pengqian

et al. 2020

Metals

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Tube walls are an essential part of the thermal power plant boiler. During the operation of the boiler, the heating surface of the tube walls are exposed to furnace particles, intense heat, and chemical components resulting from the combustion reaction. These cause corrosion and wear, which permanently collapse the tubes, and affect the reliability and performance of the boiler. Therefore, a protection layer of heat and corrosion-resistant material is typically welded on the surface of the tube walls. In this study, a dedicated weld overlay automatic system is proposed. The downward welding technique with the pulse gas metal arc welding (GMAW) process is used to accomplish the proposed approach. The system generates and plans beads sequence based on the analysis of the tube walls geometry. The inverse kinematic theory was used to calculate the coordinates and transformations of the welding torch. Then, a mathematical model for the welding torch trajectory was established. A SIMOTION controller was adapted for motion control. A weld-tracking system based on the adaptive neuro-fuzzy inference system (ANFIS) was used to solve the welding distortion and the assembly error. The experiment results show that the proposed design is efficient and reliable compared to previous methods. The degree of automation and the weld overlay quality of the boiler tube walls have been notably improved.

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Section: Mathematical Analysis Of the Automatic Welding Mechanismsmentioning

confidence: 99%

Development of an Automatic Welding System for the Boiler Tube Walls Weld Overlay

Tian

Saifan

Pengqian

et al. 2020

Metals

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“…Open-loop methods make use of external metrology equipment to measure the partial or full pose of the robot’s end-effector when identifying the robot’s parameters. Over time, researchers have used different metrology systems such as acoustic sensors [ 3 ], mechanical coordinate-measuring machines (CMM)s [ 4 ], theodolites [ 5 ], laser trackers [ 6 , 7 , 8 ], optical CMMs [ 9 ], combinations of the latter two [ 10 ], and ballbars [ 11 ] for open-loop calibration. These instruments allow for good calibration performances but have significant drawbacks.…”

Section: Introductionmentioning

confidence: 99%

Self-Calibration of an Industrial Robot Using a Novel Affordable 3D Measuring Device

Gaudreault

Joubair

Bonev

2018

Sensors

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This work shows the feasibility of calibrating an industrial robot arm through an automated procedure using a new, low-cost, wireless measuring device mounted on the robot’s flange. The device consists of three digital indicators that are fixed orthogonally to each other on an aluminum support. Each indicator has a measuring accuracy of 3 µm. The measuring instrument uses a kinematic coupling platform which allows for the definition of an accurate and repeatable tool center point (TCP). The idea behind the calibration method is for the robot to bring automatically this TCP to three precisely-known positions (the centers of three precision balls fixed with respect to the robot’s base) and with different orientations of the robot’s end-effector. The self-calibration method was tested on a small six-axis industrial robot, the ABB IRB 120 (Vasteras, Sweden). The robot was modeled by including all its geometrical parameters and the compliance of its joints. The parameters of the model were identified using linear regression with the least-square method. Finally, the performance of the calibration was validated with a laser tracker. This validation showed that the mean and the maximum absolute position errors were reduced from 2.628 mm and 6.282 mm to 0.208 mm and 0.482 mm, respectively.

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“…Traditional strategies to recognize kinematic parameters of a robot includes taking the robot to a controlled situation to take pose estimations utilizing a coordinate measurement machine (CMM) [27] or laser tracker [28]. In this work, we have proposed the use of the monocular camera with the AruCo markers to demonstrate it for the identification of Tarantula.…”

Section: Introductionmentioning

confidence: 99%

Tarantula: Design, Modeling, and Kinematic Identification of a Quadruped Wheeled Robot

et al. 2018

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This paper firstly presents the design and modeling of a quadruped wheeled robot named Tarantula. It has four legs each having four degrees of freedom with a proximal end attached to the trunk and the wheels for locomotion connected at the distal end. The two legs in the front and two at the back are actuated using two motors which are placed inside the trunk for simultaneous abduction or adduction. It is designed to manually reconfigure its topology as per the cross-sections of the drainage system. The bi-directional suspension system is designed using a single damper to prevent the trunk and inside components from shock. Formulation for kinematics of the wheels that is coupled with the kinematics of each leg is presented. We proposed the cost-effective method which is also an on-site approach to estimate the kinematic parameters and the effective trunk dimension after assembly of the quadruped robot using the monocular camera and ArUco markers instead of high-end devices like a laser tracker or coordinate measurement machine. The measurement technique is evaluated experimentally and the same set up was used for trajectory tracking of the Tarantula. The experimental method for the kinematic identification presented here can be easily extended to the other mobile robots with serial architecture designed legs.

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A Rapid Coordinate Transformation Method Applied in Industrial Robot Calibration Based on Characteristic Line Coincidence

Cited by 21 publications

References 10 publications

Development of an Automatic Welding System for the Boiler Tube Walls Weld Overlay

Development of an Automatic Welding System for the Boiler Tube Walls Weld Overlay

Self-Calibration of an Industrial Robot Using a Novel Affordable 3D Measuring Device

Tarantula: Design, Modeling, and Kinematic Identification of a Quadruped Wheeled Robot

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