Robot autonomous error calibration method for off line programming system

Nakamura, Hideo; Itaya, T.; Yamamoto, K.; Koyama, Takuma

doi:10.1109/robot.1995.525528

Cited by 9 publications

(7 citation statements)

References 4 publications

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“…At this point, the relations (4), (5), (6), and (7) have to be considered since the geometrical parameters of which they are function of can also be affected by some errors. Since these errors decrease the global accuracy of the robot, they have to be included in the vector ∆η and their related column have to added to the generalized Jacobian matrix G,k J .…”

Section: A Forward and Inverse Geometrical Modelsmentioning

confidence: 99%

“…However, for hard materials as metal, robots have then to be strong and mechanically stiff and rigid to withstand the machining forces. Moreover in terms of modelling the elastogeometrical behaviour of their mechanical structure has to be accurately known in order to compensate, with the control, the effects of the remaining elastic deformations of the robot links and joints onto the positioning accuracy [2][3][4][5][6]. This is in this context that the presented works take place.…”

Section: Introductionmentioning

confidence: 99%

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Elasto-geometrical modelling of closed-loop industrial robots used for machining applications

Marie

Maurine

2008

2008 IEEE International Conference on Robotics and Automation

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This paper presents the elasto-geometrical modelling of an industrial robot manipulator whose structure includes a closed-loop mechanism. This modelling is done for sensitivity studies and calibration purposes since the robot is involved in machining operations that require a high level of quasi static positioning accuracy. The kinematics of the machine is described first then the systematic approach that is proposed to calculate the elastic modelling of its architecture is presented. Simulations and experiments are presented next in order to evaluate the limitations and benefits of the proposed modelling approach.

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Section: A Forward and Inverse Geometrical Modelsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Elasto-geometrical modelling of closed-loop industrial robots used for machining applications

Marie

Maurine

2008

2008 IEEE International Conference on Robotics and Automation

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“…However these applications require that the robots apply high level force at the TCP but their serial open structures lack stiffness. As a result consequent elastic deformations of the robot generate TCP pose errors that degrade the process in terms of geometry, surface state, etc [3,4,5,6,7]. Therefore rigidity and accuracy remain the major obstacles to the widespread use of robots for these processes.…”

Section: Introductionmentioning

confidence: 99%

Elasto-geometrical modeling and calibration of robot manipulators: Application to machining and forming applications

Marie

Courteille

Maurine

2013

Mechanism and Machine Theory

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This paper proposes an original elasto-geometrical calibration method to improve the static pose accuracy of industrial robots involved in machining, forming or assembly applications. Two approaches are presented respectively based on an analytical parametric modeling and a Takagi-Sugeno fuzzy inference system. These are described and then discussed. This allows to list the main drawbacks and advantages of each of them with respect to the task and the user requirements. The Fuzzy Logic model is used in a model-based compensation scheme to increase significantly the robot static pose accuracy in a context of incremental forming application. Experimental results show the efficiency of the Fuzzy Logic model while minimizing development and computational resources.

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“…Errors inevitably exist in the manufacturing and assembly [8][9], so there are differences between any particular component and the ideal for that component. These errors include the connecting parts' manufacturing tolerance, link offset, and assembly error etc.…”

Section: Introductionmentioning

confidence: 99%

Kinematic calibration of 6-UPS surgical parallel robot

Wei-dong

Zhang

2013

2013 ICME International Conference on Complex Medical Engineering

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In the applications of parallel robots, Kinematic calibration is one of the most effective methods to improve the accuracy of surgical parallel robots. In this paper, a brief kinematic calibration method which is used in the 6-UPS (Universal Prismatic Spherical) surgical parallel robot is discussed. Firstly, the primary error factors needed to be identified are proposed based on the kinematic mathematical model of the 6-UPS surgical parallel robot. Then the method of pose measurement is studied, and the definitions of the position deviation and orientation deviation which are used to evaluate the experimental results are illustrated. Lastly, an iterative least squares procedure is used to identify the error parameters, and the kinematic calibration experiment is carried out. From the statistical analysis of the experimental results, the effect of the method to improve the accuracy of the 6-UPS surgical parallel robot is demonstrated.

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Robot autonomous error calibration method for off line programming system

Cited by 9 publications

References 4 publications

Elasto-geometrical modelling of closed-loop industrial robots used for machining applications

Elasto-geometrical modelling of closed-loop industrial robots used for machining applications

Elasto-geometrical modeling and calibration of robot manipulators: Application to machining and forming applications

Kinematic calibration of 6-UPS surgical parallel robot

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