Probe parameters calibration for articulated arm coordinate measuring machine

Cheng, Wentao; Fei, Yetai; Yu, Liandong; Yang, Ruihua

doi:10.1117/12.885303

Cited by 12 publications

(9 citation statements)

References 4 publications

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“…The information is very important for the following identification. And acquiring poses is commonly used in the calibration of AACMM and robots [15][16][17]. In this paper, we not only obtain many poses but also get the information of the structural parameters except measuring them directly.…”

Section: Methodsmentioning

confidence: 99%

“…According to the analysis presented in last section, we know that there are two structural parameters which are related to others and do not need to be identified in terms of (12). Instead, they can be calculated based on (17) provided other 23 parameters are identified. Therefore, the two corresponding columns of the Jacobian matrix J1 can be removed and the new identification equations can be obtained as shown in…”

Section: Analysis Of Couplings Of the Structural Parametersmentioning

confidence: 99%

“…The identified values of the structural parameters can be solved through (18). However, in some available results, for example, [12,15,17], the initial identification parameters should be appropriately selected to achieve good identification results because an iteration calculation method is adopted.…”

Section: Introductionmentioning

confidence: 99%

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Structural Parameter Identification of Articulated Arm Coordinate Measuring Machines

Gao

Zhang

Guo

2016

Mathematical Problems in Engineering

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Precise structural parameter identification of a robotic articulated arm coordinate measuring machine (AACMM) is essential for improving its measuring accuracy, particularly in robotic applications. This paper presents a constructive parameter identification approach for robotic AACMMs. We first develop a mathematical kinematic model of the AACMM based on the Denavit-Hartenberg (DH) approach established for robotic systems. This model is further calibrated and verified via the practical test data. Based on the difference between the calculated coordinates of the AACMM probe via the kinematic model and the given reference coordinates, a parameter identification approach is proposed to estimate the structural parameters in terms of the test data set. The Jacobian matrix is further analyzed to determine the solvability of the identification model. It shows that there are two coupling parameters, which can be removed in the regressor. Finally, a parameter identification algorithm taking the least-square solution of the identification model as the structural parameters by using the obtained poses data is suggested. Practical experiments based on a robotic AACMM test rig are carried out, and the results reveal the effectiveness and robustness of the proposed identification approach.

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Section: Methodsmentioning

confidence: 99%

Section: Analysis Of Couplings Of the Structural Parametersmentioning

confidence: 99%

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Structural Parameter Identification of Articulated Arm Coordinate Measuring Machines

Gao

Zhang

Guo

2016

Mathematical Problems in Engineering

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“…Even when actual probes are included in AACMM calibration, deflection caused by contact force is not corrected in the measurements. Cheng et al [21] approached this problem with a simple device that calculates the probe parameter, but it does not compensate for probe deflection or errors during measurements.…”

Section: Introductionmentioning

confidence: 99%

Application of a Force Sensor to Improve the Reliability of Measurement with Articulated Arm Coordinate Measuring Machines

González-Madruga

Cuesta

Barreiro

et al. 2013

Sensors

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A study of the operator contact force influence on the performance of Articulated Arm Coordinate Measuring Machines (AACMMs) is presented in this paper. After developing a sensor capable of measuring the contact force applied by an operator, a ring gauge has been used to analyse the relationship between the contact force and diameter and form errors measured with the AACMM. As a result, contact force has been proved as one of the main factors influencing the AACMM performance. A probe deflection model based on the Finite Element Method (FEM) has been also proposed in order to obtain the AACMM probe deflection caused by contact force. This allows measurement correction by comparing them with reference values, specifically, a ring gauge. Experimental test results show a significant measurement improvement that minimizes diameter error. Finally, an uncertainty evaluation for the contact force sensor and AACMM measurements with and without probe deflection model has been carried out in order to validate the ability of the sensor and the methodology followed.

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“…Cheng et al [7] used a simple device to measure the probe deflection. Cuesta et al [8] conducted a study based on repeatability and reproducitility (R&R) tests with blocks and ring gauges.…”

Section: Introductionmentioning

confidence: 99%

Performance of Articulated Arm CMM using Virtual Spheres Gauge and geometry deviation analysis

Ferreira

Piratelli-Filho

2015

17th International Congress of Metrology

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Abstract. This work proposes a new methodology for testing Articulated Arm Coordinate Measuring Machines (AACMM) performance using the Virtual Spheres Plate (VSP) gauge to evaluate the geometric characteristics during measurement. An aluminum 400 mm x 400 mm VSP having 16 pyramidal inserts with 4 conical holes at each was used to determine the point coordinates of the hole centers. The test was performed in a Romer Arm 100 AACMM using a 6 mm ruby-made spherical stylus with a rigid probe. The gauge was positioned in three different locations and positions in AACMM work volume and the points were determined three times in each combination. An algorithm was developed in MatLab softtware to calculate geometric figures with the points determined, based on least squares method. The geometric deviations of straightness and flatness were determined to characterize the performance of the machine in respect to this type of measurement. The results were compared with ones from GPad AACMM software and with NIST reference algorithm, proving suitable to AACMM evaluation. This test can give additional information about the performance and can be used to compare different measuring machines.

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Probe parameters calibration for articulated arm coordinate measuring machine

Cited by 12 publications

References 4 publications

Structural Parameter Identification of Articulated Arm Coordinate Measuring Machines

Structural Parameter Identification of Articulated Arm Coordinate Measuring Machines

Application of a Force Sensor to Improve the Reliability of Measurement with Articulated Arm Coordinate Measuring Machines

Performance of Articulated Arm CMM using Virtual Spheres Gauge and geometry deviation analysis

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