Online absolute pose compensation and steering control of industrial robot based on six degrees of freedom laser measurement

Jiang, Yang; Wang, Dayong; Baixing, Fan; Dong, Decun; Zhou, Weihu

doi:10.1117/1.oe.56.3.034111

Cited by 33 publications

(9 citation statements)

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“…Likewise, examples of non-kinematics-based calibrations can be seen in [ 13 , 14 ]. There are also compensation techniques that can handle both kinematic and non-kinematic errors, but they require steady calculations and application of corrections during on-line operations [ 15 - 17 ], or dynamically selected pre-calculated, hand–eye calibrations from a table [ 18 ].…”

Section: Introductionmentioning

confidence: 99%

Using Full Pose Measurement for Serial Robot Calibration

Franaszek¹,

Marvel²

2022

Applied Sciences

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To ensure smooth robot operations, parameters of its kinematic model and a registration transformation between robot base and world coordinate frame must be determined. Both tasks require data acquired by external sensors that can measure either 3D locations or full 6D poses. We show that use of full pose measurements leads to much smaller robot orientation errors when compared with the outcome of calibration and registration procedures based on 3D data only. Robot position errors are comparable for both types of data. The conclusion is based on extensive simulations of 7 degrees of freedom robot arm and different levels of pseudo-noise perturbing both positional and rotational components of pose.

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Section: Introductionmentioning

confidence: 99%

Using Full Pose Measurement for Serial Robot Calibration

Franaszek¹,

Marvel²

2022

Applied Sciences

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“…Due to the great advantage of one of the laser properties: coherence, laser measurement techniques can offer higher precision and resolution compared to other measurement methods. In recent years, new applications, for example, defect measurement, 1 trace gas sensing, 2 laser ranging in robotics, 3,4 as well as laser vibration measurement in MEMS devices or micro nanostructures, 5,6 promote further investigations in improving the performance of the laser measurement technique.…”

Section: Introductionmentioning

confidence: 99%

Improved laser measurement using advanced techniques: A review

Liu

Wang

et al. 2021

Micro & Optical Tech Letters

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Laser measurement technique has been widely explored and applied in various fields in recent years due to its advantages of high measurement precision and resolution. However, applications in frontier fields such as MEMS motion measurement and robotics control pose have requirement for higher precision and resolution, which promote further studies in improving the performance of this technique. Many advanced techniques have been proposed and applied in the laser measurement system to optimize its performance, and the optimized measurement system has found its way in state-of-the-art applications. In this invited paper, we focus on the latest investigations and new applications of the improved laser measurement methods, especially present recent research works regarding the laser triangulation measurement and the laser heterodyne vibration measurement. At the end, we have discussed further developments and challenges of laser measurement technique.

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“…When human beings cooperate with machines and industrial robots move in the production place, the collision avoidance between human and machines, between machines and machines, and between machines and other objects can hardly be guaranteed. Industrial robot human-computer cooperation and corresponding path optimization algorithm has become an important research direction in the development of human-computer cooperation, and it is also the key difficulty to further promote this technology [6][7][8].…”

Section: Introductionmentioning

confidence: 99%

Human-Machine Cooperation and Path Planning for Complex Road Conditions

Zhou

2021

Scientific Programming

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With the rapid development of the information age, the development of industrial robots is also advancing by leaps and bounds. In the scenes of automobile, medicine, aerospace, and public service, we have fully enjoyed the convenience brought by industrial robots. However, with the continuous development of industrial robot-related concepts and technologies, human-computer interaction and cooperation have become the development trend of industrial robot. In this paper, the human-machine cooperation and path optimization of industrial robot in a complex road environment are studied and analyzed. At the theoretical modeling level, firstly, the industrial robot is modeled and obstacle avoidance is analyzed based on the kinematics of industrial robot; thus, an efficient and concise collision detection model of industrial robot is proposed. At the algorithm level, in view of the complex road conditions faced by industrial robots, this paper will study and analyze the obstacle avoidance strategy of human-computer cooperation and real-time path optimization algorithm of industrial robots. Based on the virtual target point algorithm, this paper further improves the problem that the goal of the traditional path planning algorithm cannot be fully covered, so as to propose the corresponding improved path planning algorithm of industrial robots. In the experimental part, based on the existing industrial robot system, the human-machine cooperation and path planning system proposed in this paper are designed. The experimental results show that the algorithm proposed in this paper improves the accuracy of obstacle avoidance by about 10 points and the corresponding convergence speed by about 5% compared with the traditional algorithm and the experimental effect is remarkable.

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Online absolute pose compensation and steering control of industrial robot based on six degrees of freedom laser measurement

Cited by 33 publications

References 0 publications

Using Full Pose Measurement for Serial Robot Calibration

Using Full Pose Measurement for Serial Robot Calibration

Improved laser measurement using advanced techniques: A review

Human-Machine Cooperation and Path Planning for Complex Road Conditions

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