Plane-motion approach to manipulator calibration

Tang, Geo-Ry; Mooring, B. W.

doi:10.1007/bf02602947

Cited by 14 publications

(4 citation statements)

References 14 publications

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“…This kinematic method is considered rudimentary and computationally demanding due to the extensive matrix multiplication required for each link. An alternative, the S-model (Stone et al, 1986), uses six parameters for each link, while the zero reference model (Tang and Mooring, 1992) omits a common normal as a link parameter. Despite these alternatives, the "Denavit-Hartenberg" (DH) representation prevails as the primary choice for kinematic models in many robot controllers, largely for the sake of simplicity (Habibian et al, 2021).…”

Section: Kinematic Model Of the Combined Measurement Methodsmentioning

confidence: 99%

“…Translation matrix: Rotation matrix: The transformation matrix for each link is derived by organizing the translation and rotation matrices and is denoted as follows: The kinematic matrix [equation (4)] is obtained by sequentially multiplying the transformation of each link, as specified in: This kinematic method is considered rudimentary and computationally demanding due to the extensive matrix multiplication required for each link. An alternative, the S-model (Stone et al , 1986), uses six parameters for each link, while the zero reference model (Tang and Mooring, 1992) omits a common normal as a link parameter. Despite these alternatives, the “Denavit–Hartenberg” (DH) representation prevails as the primary choice for kinematic models in many robot controllers, largely for the sake of simplicity (Habibian et al , 2021).…”

Section: Kinematics and Parameter Identification Of Combined Measurem...mentioning

confidence: 99%

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Accuracy compensation method with the combined dissimilar measurement devices for enhanced measurement quality: a digital aircraft assembly technology

Miah,

Singh Chand,

Malhi

2024

AEAT

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Purpose The pivotal aspect of aircraft assembly lies in precise measurement accuracy. While a solitary digital measuring tool suffices for analytical and small surfaces, it falls short for extensive synthetic surfaces like aircraft fuselage panels and wing spars. The purpose of this study is to develop a “combined measurement method” (CMM) that enhances measurement quality and expands the evaluative scope, addressing the limitations posed by singular digital devices in meeting measurement requirements across various aircraft components. Design/methodology/approach The study illustrated the utilization of the CMM by combining a laser tracker and a portable arm-measuring machine. This innovative approach is tailored to address the intricate nature and substantial dimensions of aircraft fuselage panels. The portable arm-measuring machine performs precise scans of panel components, while common points recorded by the laser tracker undergo coordinate conversion to reconstruct the fuselage panel’s shape. The research outlines the CMM’s measurement procedure and scrutinizes the data processing technique. Ultimately, the investigation yields a deviation vector matrix and chromatogram deviation distribution, pivotal in achieving enhanced measurement precision for the novel CMM device. Findings The use of CMM noticeably enhances fuselage panel assembly accuracy, concurrently reducing assembly time and enhancing efficiency compared to conventional measurement systems. Practical implications The research’s practical implication lies in revolutionizing aircraft assembly by mitigating accuracy issues through the innovative digital CMM for aircraft synthetic structure type product (aircraft fuselage panel). This ensures safer flights, reduces rework and enhances overall efficiency in the aerospace industry. Originality/value Introducing a new aircraft assembly accuracy compensation method through digital combined measurement, pioneering improved assembly precision. Also, it enhances aerospace assembly quality, safety and efficiency, offering innovative insights for optimized aviation manufacturing processes.

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Section: Kinematic Model Of the Combined Measurement Methodsmentioning

confidence: 99%

Section: Kinematics and Parameter Identification Of Combined Measurem...mentioning

confidence: 99%

Accuracy compensation method with the combined dissimilar measurement devices for enhanced measurement quality: a digital aircraft assembly technology

Miah,

Singh Chand,

Malhi

2024

AEAT

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“…Meggiolaro M et al obtained the geometric parameter errors of a manipulator by utilizing the least square method (LSM) [18]. Tang and Mooring designed a composed board with precise positioning points to decrease the calibration error of a manipulator [19] [20]. Hage et al proposed a constraint equation by using four planes to improve the accuracy of a probe-based manipulator [21].…”

Section: Introductionmentioning

confidence: 99%

Calibration of a Manipulator With a Regularized Parameter Identification Method

Jiang

Luo

et al. 2022

IEEE Access

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As an inverse problem, the parameter identification of manipulators is essential to in-situ calibration. Since the ill-posed inverse kinematic model is sensitive to the measurement value, even tiny errors will make the geometric model of the manipulator wrongly identified. To overcome this problem, a Regularized Parameter Identification Method (RPIM) is proposed to calibrate the geometric model of the manipulator. The inverse kinematic model of a 6 DOF manipulator is modified by a Tikhonov regularization to overcome its ill-posed problem. The regularization parameter is optimized by the improved L curve method to adjust the initial model to a well-posed one that approximates the real situation. A calibration system is designed to evaluate the effectiveness of the suggested method. The position of the selected targets is tested by using a laser tracker. The experimental result shows that the absolute position errors of the manipulator are 2.533mm without calibration, 0.472mm by RPIM, 1.445mm by Least Square Method (LSM), 1.353mm by Gradient Descent (GD), and 0.956mm by Gauss-Newton (GN). It shows that the absolute position error of RPIM is reduced by 81.331% after calibration, which is superior to other methods.

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“…In [17], the robot calibration is carried out while the Cartesian coordinates of the exit points expressed in the moving-platform frame are supposed to be known. Some other contributions using multiple sensors have been made [14,15,18,19]. Self-calibrations, as the case in this work, are realised by the help of internal sensors [11].…”

Section: Introductionmentioning

confidence: 99%

Exit Point, Initial Length and Pose Self-calibration Method for Cable-Driven Parallel Robots

Wang

Caro

2021

Mechanism Design for Robotics

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A calibration process simulation for the interest variable values, including Cartesian coordinates of exit points, moving platform poses and initial cable lengths is performed. The simulation considers the modelling of the pulleys at exit points, and is carried out using nonlinear least square method. The effects of calibration tuning parameters and of measurement pose number on calibration quality are analyzed. As a result, the calibration quality increases with the decrease of tuning parameters and the increase of measurement pose number. The use of Jacobian matrix of the interest function fi,j also leads to a better calibration quality.

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Plane-motion approach to manipulator calibration

Cited by 14 publications

References 14 publications

Accuracy compensation method with the combined dissimilar measurement devices for enhanced measurement quality: a digital aircraft assembly technology

Accuracy compensation method with the combined dissimilar measurement devices for enhanced measurement quality: a digital aircraft assembly technology

Calibration of a Manipulator With a Regularized Parameter Identification Method

Exit Point, Initial Length and Pose Self-calibration Method for Cable-Driven Parallel Robots

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