Simultaneous and on-line calibration of a robot-based inspecting system

Yu, Cheng-Yi; Xi, Juntong

doi:10.1016/j.rcim.2017.08.006

Cited by 45 publications

(14 citation statements)

References 32 publications

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“…Du et al presented an on-line robot self-calibration method based on an inertial measurement unit (IMU) and a position sensor, which can obtain the real-time pose of EE and identify the parameters via extended kalman and particle filters [26]. The vision-based on-line calibration method in [10] was utilized to calibrate the robot itself kinematics parameters and the hand-eye relationship simultaneously in a robot-based inspecting system. An effective kinematic self-calibration method for dual-manipulators is presented to estimate the actual kinematic parameters in [27].…”

Section: Related Workmentioning

confidence: 99%

“…At present, the off-line calibration schemes based on external sensors are mainly used to calibrate the manipulator and the relationship between the base of manipulator and the mobile platform. Off-line calibration is generally dependent on manual assistance, such as installing of calibration instruments and setting calibration configurations and measurement programs, which is a time-consuming and laborious process [9], [10].…”

Section: Introductionmentioning

confidence: 99%

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On-Line Precision Calibration of Mobile Manipulators Based on the Multi-Level Measurement Strategy

et al. 2021

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Autonomous industrial mobile manipulator (AIMM), which is composed of a mobile platform and a robot arm of six degrees of freedom (DoFs), can move autonomously and perform dexterous tasks independently in the industrial environment. A novel on-line calibration system for AIMM in real manufacturing workshop is proposed in this paper. Compared to calibration scenarios of fixed-base robot, we focus on the large-space autonomous calibration for AIMM. To cope with the issue of high precision calibration in large space, we propose a multi-level guided-based measurement strategy, which includes the low-cost vision positioning and guidance system, and the high-precision distributed base station (BS) measurement system. The corresponding experiment proves that the total uncertainty of measurement system is less than 0.1 mm. Based on the measured data of end-effector installed at the end of robot arm, the AIMM can perform on-line calibration tasks anywhere automatically without taking into account the expensive devices for the high-precision location of mobile platform and the downtime for the robotic off-line calibration. The mean positioning error of AIMM after calibration reduces 93% based on the calibration experiment.

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Section: Related Workmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

On-Line Precision Calibration of Mobile Manipulators Based on the Multi-Level Measurement Strategy

et al. 2021

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“…Through Figure 12(g) and the movement of the manipulator during the simulation process, it can be observed that the job is stuck and unable to complete the task. The position error E rd is the ratio of the difference between the actual displacement and the non-attack displacement to the non-attack displacement [41]. In this attack, it is 156%.…”

Section: ) Impact Analysismentioning

confidence: 99%

Data Logic Attack on Heavy-Duty Industrial Manipulators

Xie

Hao

et al. 2020

IEEE Access

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The anticipated widespread use of the heavy-duty industrial manipulator (HDIM) makes it an important role in the field of modern industrial automation. Research on the attack of cyber-physical systems based on industrial manipulator vulnerabilities is booming, while there are few studies on the data logic and attack impact for HDIMs. This paper proposes a new cyber-physical attack mechanism named data logic attack mechanism on HDIMs, including network protocol data logic attack, system data integrity logic attack, and process logic attack. Meanwhile, data logic attack models for HDIMs and an attack impact analysis model are established. Besides, for the proposed data logic attack mechanism, a hardware-in-theloop cosimulation based on Simulink and Adams is carried out to demonstrate the impact of data logic attacks on the system integrity, availability, accuracy, and integrity. A test platform has also been established to test the attack mechanism's effectiveness. The results of cosimulation and test show the attack impact ranking and effectiveness of the attack mechanism. INDEX TERMS Industrial manipulator, data logic attack, impact analysis model, cosimulation.

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“…Laser tracker systems are often used in studies of kinematic error calibration of series and parallel robots (Abderrahim et al, 2006;Kamali et al, 2016;Sun et al, 2016). Yu and Xi (2018) presented a self-calibration method based on measuring the centers of four spherical calibration targets located around the inspecting system. Their global kinematic model was developed based on a Modified Denavit-Hartenberg (MDH) Model without separating the hand-eye and robot exterior models.…”

Section: Introductionmentioning

confidence: 99%

Calibration of Industrial Robot Kinematics Based on Results of Interpolating Error by Shape Function

Thu¹,

Quoc²,

Long³

2020

J. Eng. Appl. Sci.

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The initial accuracy of a robot arm depends not only on the hardware's manufacturing and assembly quality but also on control strategies. During assembly or regular maintenance, the kinematic accuracy of a robot arm needs to be verified and calibrated to maintain the desired quality. In this study, we present a method to determine and correct the robot kinematic error based on the shape function interpolation technique. Experimental research was applied to aABB robot with six degrees of freedom to verify the correctness of the method. The results indicated that the position errors of the end-effector were significantly reduced. The effectiveness of the proposed interpolation method and combined error compensation algorithm demonstrated that practical application is feasible.

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Simultaneous and on-line calibration of a robot-based inspecting system

Cited by 45 publications

References 32 publications

On-Line Precision Calibration of Mobile Manipulators Based on the Multi-Level Measurement Strategy

On-Line Precision Calibration of Mobile Manipulators Based on the Multi-Level Measurement Strategy

Data Logic Attack on Heavy-Duty Industrial Manipulators

Calibration of Industrial Robot Kinematics Based on Results of Interpolating Error by Shape Function

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