Screw based kinematic calibration method for robot manipulators with joint compliance using circular point analysis

Cho, Youngsu; Do, Hyunmin; Cheong, Joono

doi:10.1016/j.rcim.2018.08.001

Cited by 25 publications

(7 citation statements)

References 21 publications

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“…To find closed-form solution of a hybrid robot, [ 13 ] proposed a numerical method to convert the higher order kinematic equation to a 4th-order polynomial. A modified product-of-exponential method is proposed to formulate a kinematic calibration method [ 14 ]. A further kinematic calibration method through machine vision for 6R robot can be found in [ 15 ].…”

Section: Introductionmentioning

confidence: 99%

A fast task planning system for 6R articulated robots based on inverse kinematics

Lai

2023

Int J Adv Manuf Technol

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Robots bring eventful impacts to the workplace, benefiting from the advantages of implementing any technology should be based on the premise of safety. This work proposes a systematic method to establish a postprocessor module for any specified 6R articulated robot. Instead of obsessively emphasizing achieving the desired locations and orientations by hand guiding grab and dragging a robotic arm for operation in teaching mode, the significant end-effector poses are calculated to form a new path for the joints efficiently in this study. Since robotic motion control is usually a complex system whose users must be well trained and acquainted with using them. There is a need for a GUI solution that can provide intuitive robotic motion control on the current location by the user independently, easy setup, arrangement, adjustment, and monitoring robot motion tasks. The proposed system simplifies the interaction between the technician and the industrial robotic arm in the case of robotic motion control and tracking at a distant location. The presented method is fully adapted to alternate between joint angles and end-effector poses on a graphic user interface system. After developing the capabilities of the solver, a functional postprocessor is programmed inside the proposed GUI system. Examples with specified posture and predefined movements are demonstrated for corroborating the algorithm. The results show considerable efficiency and reliability in task planning and are fully supported for automatic path generation.

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Section: Introductionmentioning

confidence: 99%

A fast task planning system for 6R articulated robots based on inverse kinematics

Lai

2023

Int J Adv Manuf Technol

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“…There are two main approaches to formalize the geometric model of a robot [6]. The first approach is composed of methods that directly identify the geometric parameters like the leg lengths or the angles between joint axes.…”

Section: Introductionmentioning

confidence: 99%

“…The main drawback is the nature of these introduced geometric parameters. The application of this method is difficult in the case of two adjacent joints with collinear or intersecting axes [6] [9]. In this case, the choice of ⃗ −1 is not unique while it influences the definition of ⃗ orientation [2].…”

Section: Introductionmentioning

confidence: 99%

Geometrical defect identification of a SCARA robot from a vector modeling of kinematic joints invariants

Chanal

Guyon

Koessler

et al. 2021

Mechanism and Machine Theory

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This article introduces a new geometric vector modeling method of serial kinematic robot consistent with the identification process. This method is based on the definition of position and orientation of the robot joint invariants. For example, the invariant of the rotational joint is a straight-line (rotational joint axis). Thus, only independent geometrical parameters are introduced to model the joint axis position and orientation in space. Note that, the orientation is not constrained as in the Denavit-Hartenberg (DH) formalism. This article presents the methodology to define these geometrical parameters and the geometrical model. In this context, the identification method relies on "Circle Point Analysis". The points are measured with a laser tracker. Indeed, with a relevant processing of the measured points, we directly identify the invariants of joints. This method is applied to a SCARA robot geometric modeling. After an identification process, this methodology allows improving inverse kinematic error compared to the classical DH geometrical model with first and second-order defects. Moreover, the obtained residual error mean value is close to the accuracy of the measurement process.

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“…e kinematic error accounts for more than 80% of the total error [14]. e kinematic calibration methods are mainly divided into error model-based method and axis measurement method [15,16]. e positioning accuracy of the Staubli RX160L robot was improved from 1.41 mm to 0.15 mm based on the error model method [17].…”

Section: Introductionmentioning

confidence: 99%

Experimental Analysis on the Effectiveness of Kinematic Error Compensation Methods for Serial Industrial Robots

Zhang

Qiao

Song

et al. 2021

Mathematical Problems in Engineering

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Based on the established serial 6-DOF robot calibration experiment platform, this paper aims to analyze and compare the effects of four error compensation methods, which are pseudotarget iteration-based error compensation method with three different forms and the Newton–Raphson-based error compensation method. Firstly, the pose error model of the serial robot is established based on the M-DH model in this paper. The calibration results show that the accuracy of the Staubli TX60 robot has been greatly improved. The average comprehensive position accuracy is increased by 88.7%, and the average comprehensive attitude accuracy is increased by 56.6%. Secondly, the principles of the four error compensation methods are discussed, and the effectiveness of the four error compensation methods are compared through experiments. The results show that the four error compensation methods can achieve error compensation well. The compensation accuracy is consistent with the identification accuracy of the kinematic model. The pseudotarget iteration with differential form has the best performance by the comprehensive consideration of accuracy and computational efficiency. Error compensation determines whether the accuracy of the identified model can be achieved. This paper presents a systematic experimental validation research on the effectiveness of four error compensation methods, which provides a reliable reference for the kinematic error compensation of industrial robots.

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Screw based kinematic calibration method for robot manipulators with joint compliance using circular point analysis

Cited by 25 publications

References 21 publications

A fast task planning system for 6R articulated robots based on inverse kinematics

A fast task planning system for 6R articulated robots based on inverse kinematics

Geometrical defect identification of a SCARA robot from a vector modeling of kinematic joints invariants

Experimental Analysis on the Effectiveness of Kinematic Error Compensation Methods for Serial Industrial Robots

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