Calibration method for articulated industrial robots

Ali, Marwan; Simić, Milan; Imad, Fadi

doi:10.1016/j.procs.2017.08.246

Cited by 17 publications

(4 citation statements)

References 18 publications

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“…The traditional method to determine the transformation relationship between the robot and camera coordinate systems in the stereo vision system is complicated and difficult to implement. For example, additional sensors have been used [15], which requires complex calibration models [16][17][18].…”

Section: Transformation Relationship Between the Robot Coordinate Sys...mentioning

confidence: 99%

Design and Evaluation of a Casting Valve Body Positioning System for Riser-Cutting Robots

Zhao

Zhang

He³

et al. 2023

Teh. vjesn.

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The current manual method for the removal of the casting riser for the valve body is characterized by low efficiency, and causes both environmental pollution and human health risks. To address these issues, an automatic method for the cutting of the casting riser using a stereo vision system and a manipulator is proposed in this work. The relative position of the valve casting and the end of the manipulator is determined via the position transformation of the valve casting, the manipulator end, and camera coordinate systems. The spatial motion trajectory of the manipulator is then planned to implement the automatic cutting of the pouring riser of the same valve casting with the same pose. The results of experiments show that the position and angle deviations of the repeated and random positioning accuracies of the visual system are within ±2 mm, ±0.5° and ±3 mm, ±1°, respectively. In the cutting test of the pouring riser, the maximum deviation between the actual and theoretical cutting trajectories is 3 mm. Therefore, the proposed method has good reliability and can meet the requirements of cutting accuracy.

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Section: Transformation Relationship Between the Robot Coordinate Sys...mentioning

confidence: 99%

Design and Evaluation of a Casting Valve Body Positioning System for Riser-Cutting Robots

Zhao

Zhang

He³

et al. 2023

Teh. vjesn.

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“…They claimed that their methodology allows an improvement of the robot accuracy. Marwan et al (2017) proposed a calibration technique for autonomous calibration procedure in a dynamic manufacturing environment, using an inertial measurement unit and ultrasonic triangulation sensors to measure robot poses. Their proposed approach was validated on a six-DOF robot and found to be sufficient and offers an important reduction of production time and maintenance compared to vision based calibration methods.…”

Section: Introductionmentioning

confidence: 99%

Calibration strategies for enhancing accuracy in serial industrial robots for orbital milling applications

Slamani,

Makri,

Boudilmi

et al. 2024

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Purpose This research paper aims to optimize the calibration process for an ABB IRB 120 robot, specifically for robotic orbital milling applications, by introducing and validating the use of the observability index and telescopic ballbar for accuracy enhancement. Design/methodology/approach The study uses the telescopic ballbar and an observability index for the calibration of an ABB IRB 120 robot, focusing on robotic orbital milling. Comparative simulation analysis selects the O3 index. Experimental tests, both static and dynamic, evaluate the proposed calibration approach within the robot’s workspace. Findings The proposed calibration approach significantly reduces circularity errors, particularly in robotic orbital milling, showcasing effectiveness in both static and dynamic modes at various tool center point speeds. Research limitations/implications The study focuses on a specific robot model and application (robotic orbital milling), limiting generalizability. Further research could explore diverse robot models and applications. Practical implications The findings offer practical benefits by enhancing the accuracy of robotic systems, particularly in precision tasks like orbital milling, providing a valuable calibration method. Social implications While primarily technological, improved robotic precision can have social implications, potentially influencing fields where robotic applications are crucial, such as manufacturing and automation. Originality/value This study’s distinctiveness lies in advancing the accuracy and precision of industrial robots during circular motions, specifically tailored for orbital milling applications. The innovative approach synergistically uses the observability index and telescopic ballbar to achieve these objectives.

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“…Over the years, many other solutions have been studied including static calibration and dynamic positioning [8][9][10]. The authors in [11] used an inertial measurement unit (IMU) and ultrasonic triangulation sensors for self-calibration of the robot pose. Its advantage is not complex.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Hybrid Filter for Vision‐Based Pose Estimation of a Hexa Parallel Robot

Huynh

Kuo

2021

Journal of Sensors

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One of the problems with industrial robots is their ability to accurately locate the pose of the end-effector. Over the years, many other solutions have been studied including static calibration and dynamic positioning. This paper presents a novel approach for pose estimation of a Hexa parallel robot. The vision system uses three simple color feature points fixed on the surface of the end-effector to measure the pose of the robot. The Intel RealSense Camera D435i is used as a 3D measurement of feature points, which offers a cheap solution and high accuracy in positioning. Based on the constraint of three color feature points, the pose of the end-effector, including position and orientation, is determined. A dynamic hybrid filter is designed to correct the vision-based pose measurement. The complementary filter is used to eliminate the noise of image processing due to environmental light source interference. The unscented Kalman filter is designed to smooth out the pose estimation of the vision system based on robot’s kinematic parameters. The combination of two filters in the same control scheme contributes to increased stability and improved accuracy of robot’s positioning. The simulation, experiment, and comparison demonstrate the effectiveness and feasibility of the proposed method.

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Calibration method for articulated industrial robots

Cited by 17 publications

References 18 publications

Design and Evaluation of a Casting Valve Body Positioning System for Riser-Cutting Robots

Design and Evaluation of a Casting Valve Body Positioning System for Riser-Cutting Robots

Calibration strategies for enhancing accuracy in serial industrial robots for orbital milling applications

Dynamic Hybrid Filter for Vision‐Based Pose Estimation of a Hexa Parallel Robot

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