Kinematic parameter estimation technique for calibration and repeatability improvement of articulated arm coordinate measuring machines

Santolaria, Jorge; Aguilar, Juan José; Yagüe, J.A.; Pérez, Jorge Juan Pastor

doi:10.1016/j.precisioneng.2007.09.002

Cited by 138 publications

(113 citation statements)

References 25 publications

Supporting

Mentioning

110

Contrasting

Unclassified

Order By: Relevance

“…At present, the robot can be composed of a variety of combinations as shown in Table 2 [5] . [6] ,Jorge Santolaria [7]- [9] robot + structured light sensor dental model, car model, etc. Wu D F [10]- [11] , Giovanna Sansoni [12]- [13] robot + Laser Scanner + camera mouse, kettle, etc.…”

Section: Combined Measurement Technology Based On Robotmentioning

confidence: 99%

Summary of the Space Coordinate Measuring Technology Via Robots

Li¹

2017

IOSR JMCE

View full text Add to dashboard Cite

Section: Combined Measurement Technology Based On Robotmentioning

confidence: 99%

Summary of the Space Coordinate Measuring Technology Via Robots

Li¹

2017

IOSR JMCE

View full text Add to dashboard Cite

“…Several calculations have been made to find out the number of terms necessary from the Fourier series and the improvement obtained from the first term to the following ones is not significant, so we can formulate the rotation errors as shown on (12).…”

Section: Eccentricity Movement Analysismentioning

confidence: 99%

Rotation Error Modeling and Identification for Robot Kinematic Calibration by Circle Point Method

Santolaria¹,

Conte²,

Pueo³

et al. 2014

Metrology and Measurement Systems

Self Cite

View full text Add to dashboard Cite

Screw axis measurement methods obtain a precise identification of the physical reality of the industrial robots' geometry. However, these methods are in a clear disadvantage compared to mathematical optimisation processes for kinematical parameters. That's because mathematical processes obtain kinematical parameters which best reduce the robot errors, despite not necessarily representing the real geometry of the robot. This paper takes the next step at the identification of a robot's movement from the identification of its real kinematical parameters for the later study of every articulation's rotation. We then obtain a combination of real kinematic and dynamic parameters which describe the robot's movement, improving its precision with a physical understanding of the errors.

show abstract

“…Determining of the accuracy of geometrical elements of a CMA is a multi-staged task and an extremely difficult and laborious one [17][18][19][20][21]. In most cases, all of the tasks are performed only once, while the remaining ones are repeated only when calibrating the device, or after its dismantling and reassembly.…”

Section: Determination Of the Accuracy Of The Geometrical Elements Ofmentioning

confidence: 99%

Determining the uncertainty of measurement with the use of a Virtual Coordinate Measuring Arm

Ostrowska

Gąska

Sładek

2013

Int J Adv Manuf Technol

View full text Add to dashboard Cite

Coordinate Measuring Arms are redundant measuring devices that are widely used today. Therefore, this paper presents a solution of the problem of online estimation of accuracy of measurements done on coordinate measuring arms. This paper shows the metrological model called Virtual Coordinate Measuring Arm. It is composed of a kinematic model of arm, created using the Denavit-Hartenberg convention connected with PC-DMIS measuring software and usage of Monte Carlo method. Verification tests done according to VDI/VDE 2617-7 guideline show that the created model is working properly. Also the comparison of results of measurements done on real Coordinate Measuring Arm and simulated by the created model proves correctness of the model. The metrological model of Virtual Coordinate Measuring Arm can be a breakthrough in the use of the coordinate measuring arms in quality assurance systems in production.

show abstract

Kinematic parameter estimation technique for calibration and repeatability improvement of articulated arm coordinate measuring machines

Cited by 138 publications

References 25 publications

Summary of the Space Coordinate Measuring Technology Via Robots

Summary of the Space Coordinate Measuring Technology Via Robots

Rotation Error Modeling and Identification for Robot Kinematic Calibration by Circle Point Method

Determining the uncertainty of measurement with the use of a Virtual Coordinate Measuring Arm

Contact Info

Product

Resources

About