Determination of Linkage Parameter and Pair Variable Errors in Open Chain Kinematic Linkages Using a Minimal Set of Pose Measurement Data

Ibarra, Ramiro; Perreira, N. Duke

doi:10.1115/1.3260797

Cited by 23 publications

(11 citation statements)

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“…Each coordinate system is then related to the next through a specific set of parameters in the homogeneous transformation matrices. Afterwards, many researchers mentioned the model singularity problem raised in D-H representation [20]. A new notation has been derived from the popular D-H method by Khalil and Kleinfinger [21] which can be used to describe the openloop robots and the closed-loop robots with a minimum of parameters and without ambiguities or difficulties.…”

Section: -Dof Robot Geometric Modelingmentioning

confidence: 99%

Photo-Robotic Extrinsic Parameters Calibration of 6-DOF Robot for High Positioning Accuracy

Bettahar

Lehmann

Clevy

et al. 2020

IEEE/ASME Trans. Mechatron.

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Hybrid integration of individual photonic elements appears particularly promising. It indeed provides high performances, proposes new optical functionalities and products and exploits new propagation modes of light beams. This approach requires an accurate multi Degree-Of-Freedom (DOF) positioning of the individual photonic elements. Hence, the inaccurate multi-DOF measurements and robots control are the main locks to overcome, notably at the micro-scale. For this sake, an original photo-robotic approach has been proposed. It relies on multi-DOF robot's motion associated with the use of 1-D Fabry-Perot interferometry measurement to achieve multi-DOF pose measurement. This original photo-robotic approach notably integrates the issue of extrinsic parameters calibration through a proposed photo-robotic calibration model. Experimental investigations demonstrate that a translational positioning accuracy of 390 nm was obtained. This photo-robotic approach has especially been applied to achieve the 6-DOF positioning of an optical lamella relative to an optical fiber with high accuracy that also conducts to maximum optical reflectivity.

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Section: -Dof Robot Geometric Modelingmentioning

confidence: 99%

Photo-Robotic Extrinsic Parameters Calibration of 6-DOF Robot for High Positioning Accuracy

Bettahar

Lehmann

Clevy

et al. 2020

IEEE/ASME Trans. Mechatron.

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“…(32) can be further reduced to: [19,20]: Although the D-H approach involves consecutive transformation of local frames, its model for a single joint can be essentially represented as a product of 4 exponentials:…”

Section: B Differential Error Kinematics Of a Single Jointmentioning

confidence: 99%

Comparative study of robot kinematic calibration algorithms using a unified geometric framework

et al. 2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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Abstract-In this paper, we conduct a comparative study of three well known robot kinematic calibration algorithms, namely the Denavit-Hartenberg (DH) parameter algorithm, the product of exponentials (POE) algorithm, and the local POE (LPOE) algorithm. To cope with distinct formulations associated to different algorithms, we propose a unified geometric framework which is based on POE kinematics and a novel Adjoint error model. The Adjoint error model offers us an extremely efficient way to benchmark the aforesaid calibration algorithms, and also compare them to a novel calibration algorithm based on the Adjoint error model.

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“…18 Therefore, numerical algorithms are frequently employed to solve inverse kinematics problems. In the literature, [19][20] the Newton-Raphson method was used to solve the nonlinear kinematic equations. This method is unstable near singularities and cannot converge to exact singular configurations, and its stability strongly depends on the quality of the initial estimation of the solution.…”

Section: Introductionmentioning

confidence: 99%

Inverse kinematics solution of a new circumferential drilling machine for aircraft assembly

Zhu

Mei

2014

Robotica

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SUMMARYInverse kinematics solutions are the basis for position and orientation control of automated machines in their Cartesian workspace. This paper presents an efficient and robust inverse kinematics algorithm for a new circumferential drilling machine for aircraft fuselage assembly. After a brief introduction to the circumferential drilling machine and its forward kinematics, the paper discusses the nonlinear optimization method for solving inverse kinematics problems. The objective function is defined as a weighted combination of a position error function and an orientation error function. By representing orientation error as the geodesic distance between two points on a unit sphere, the paper proposes to define the orientation error function by using faithful geodesic distance functions, which are accurate approximations to the geodesic distance when it is small. For increased efficiency, robustness, and easy setting of initial values, the inverse kinematics problem is decomposed into two subproblems. The revolute joint coordinates are obtained by nonlinear optimization, and the prismatic joint coordinates are calculated with closed-form formulas. Numerical experiments show that the objective function defined with faithful geodesic distance functions is effective, and the proposed algorithm is efficient, robust, and accurate. The algorithm has been successfully integrated into the control system of the circumferential drilling machine. Preliminary drilling experiments show that the position accuracy of drilled holes is within ±0.5 mm, which is acceptable for the assembly of large aircrafts.

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Determination of Linkage Parameter and Pair Variable Errors in Open Chain Kinematic Linkages Using a Minimal Set of Pose Measurement Data

Cited by 23 publications

References 0 publications

Photo-Robotic Extrinsic Parameters Calibration of 6-DOF Robot for High Positioning Accuracy

Photo-Robotic Extrinsic Parameters Calibration of 6-DOF Robot for High Positioning Accuracy

Comparative study of robot kinematic calibration algorithms using a unified geometric framework

Inverse kinematics solution of a new circumferential drilling machine for aircraft assembly

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