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Accuracy Enhancement Of Industrial Robots By Dynamic Pose Correction
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Book Synopsis Accuracy Enhancement of Industrial Robots by Dynamic Pose Correction by : Sepehr Gharaaty
Download or read book Accuracy Enhancement of Industrial Robots by Dynamic Pose Correction written by Sepehr Gharaaty and published by . This book was released on 2016 with total page 138 pages. Available in PDF, EPUB and Kindle. Book excerpt: The industrial robots are widely employed in various industries. Normally, the industrial robots are highly repeatable. However, their accuracy is relatively poor. If the robot’s end-effector is required to move to a pre-calculated pose (as in off-line programming), its position error may reach a couple of millimeters. To meet the growing demand for high absolute accuracy in robotic applications such as deburring, polishing, drilling, and fastening, a lot of research work has been carried out. Robot calibration is normally used to enhance the accuracy by using external pose measurement sensors such as laser tracker. However, the calibration procedure is long and the cost is high. Also, the accuracy enhancement is limited and the best reported accuracy is around ±0.1mm. In addition, the changing operating environment and the wear and tear of the robot affect the accuracy. This research aims at developing a novel and cost-effective dynamic pose correction (DPC) strategy to address the above-mentioned issues on the accuracy enhancement. This strategy uses the vision system, i.e. C-Track from Creaform Inc. to measure the pose and integrates with the robotic controller, also known as visual servoing. To realize this strategy, three main research activities have been conducted. First, the pose of the robot is obtained from the binocular sensor. The triangulation method for estimating the pose of an object is elaborated and the C-Track as a binocular sensor is introduced. In order to remove the noise from the C-Track’s measurements, the analysis on the measured data is carried out. A root mean square (RMS) method is used to achieve reliable pose estimation. Next, the DPC strategy is designed and simulated for an industrial robot, Fanuc M20-iA. This strategy can correct the position and orientation of the robot end-effector by using position-based visual servoing. A proportional-integral-derivative (PID) controller is proposed to achieve the dynamic pose correction. The algorithm does not need the kinematic and dynamic model of the robot. The controller is fully tested in Matlab/Simulink with robotic toolbox where Fanuc M20-iA is simulated. The simulation results validated the effectiveness of the proposed DPC. The final research work is dedicated to the experimental testing of the proposed DPC on Fanuc M20-iA. The pose estimated from the C-Track serves as the feedback and the output of the DPC is given to the robot controller through Fanuc dynamic path modification (DPM) function. As a result, the robot is guided to the desired pose in real time. The experimental results demonstrate that the robot can achieve the position accuracy ±0.05mm and orientation accuracy ±0.05 degree.
Book Synopsis Robust Position-based Visual Servoing of Industrial Robots by : Xinyi Wu
Download or read book Robust Position-based Visual Servoing of Industrial Robots written by Xinyi Wu and published by . This book was released on 2020 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Recently, the researchers have tried to use dynamic pose correction methods to improve the accuracy of industrial robots. The application of dynamic path tracking aims at adjusting the end-effector's pose by using a photogrammetry sensor and eye-to-hand PBVS scheme. In this study, the research aims to enhance the accuracy of industrial robot by designing a chattering-free digital sliding mode controller integrated with a novel adaptive robust Kalman filter (ARKF) validated on Puma 560 model on simulation. This study includes Gaussian noise generation, pose estimation, design of adaptive robust Kalman filter, and design of chattering-free sliding mode controller. The designed control strategy has been validated and compared with other control strategies in Matlab 2018a Simulink on a 64bits PC computer. The main contributions of the research work are summarized as follows. First, the noise removal in the pose estimation is carried out by the novel ARKF. The proposed ARKF deals with experimental noise generated from photogrammetry observation sensor C-track 780. It exploits the advantages of adaptive estimation method for states noise covariance (Q), least square identification for measurement noise covariance (R) and a robust mechanism for state variables error covariance (P). The Gaussian noise generation is based on the collected data from the C-track when the robot is in a stationary status. A novel method for estimating covariance matrix R considering both effects of the velocity and pose is suggested. Next, a robust PBVS approach for industrial robots based on fast discrete sliding mode controller (FDSMC) and ARKF is proposed. The FDSMC takes advantage of a nonlinear reaching law which results in faster and more accurate trajectory tracking compared to standard DSMC. Substituting the switching function with a continuous nonlinear reaching law leads to a continuous output and thus eliminating the chattering. Additionally, the sliding surface dynamics is considered to be a nonlinear one, which results in increasing the convergence speed and accuracy. Finally, the analysis techniques related to various types of sliding mode controller have been used for comparison. Also, the kinematic and dynamic models with revolutionary joints for Puma 560 are built for simulation validation. Based on the computed indicators results, it is proven that after tuning the parameters of designed controller, the chattering-free FDSMC integrated with ARKF can essentially reduce the effect of uncertainties on robot dynamic model and improve the tracking accuracy of the 6 degree-of-freedom (DOF) robot.
Book Synopsis Robot Calibration by : Roger Bernard
Download or read book Robot Calibration written by Roger Bernard and published by Springer Science & Business Media. This book was released on 1993-10-31 with total page 330 pages. Available in PDF, EPUB and Kindle. Book excerpt: Calibration is playing an increasingly important role in industrial robotics. Higher accuracy demands are being placed on flexible assembly and manufacturing systems which in turn require robot manufacturers to produce higher quality precision robots.
Book Synopsis Camera-Aided Robot Calibration by : Hangi Zhuang
Download or read book Camera-Aided Robot Calibration written by Hangi Zhuang and published by CRC Press. This book was released on 2018-04-24 with total page 376 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robot calibration is the process of enhancing the accuracy of a robot by modifying its control software. This book provides a comprehensive treatment of the theory and implementation of robot calibration using computer vision technology. It is the only book to cover the entire process of vision-based robot calibration, including kinematic modeling, camera calibration, pose measurement, error parameter identification, and compensation. The book starts with an overview of available techniques for robot calibration, with an emphasis on vision-based techniques. It then describes various robot-camera systems. Since cameras are used as major measuring devices, camera calibration techniques are reviewed. Camera-Aided Robot Calibration studies the properties of kinematic modeling techniques that are suitable for robot calibration. It summarizes the well-known Denavit-Hartenberg (D-H) modeling convention and indicates the drawbacks of the D-H model for robot calibration. The book develops the Complete and Parametrically Continuous (CPC) model and the modified CPC model, that overcome the D-H model singularities. The error models based on these robot kinematic modeling conventions are presented. No other book available addresses the important, practical issue of hand/eye calibration. This book summarizes current research developments and demonstrates the pros and cons of various approaches in this area. The book discusses in detail the final stage of robot calibration - accuracy compensation - using the identified kinematic error parameters. It offers accuracy compensation algorithms, including the intuitive task-point redefinition and inverse-Jacobian algorithms and more advanced algorithms based on optimal control theory, which are particularly attractive for highly redundant manipulators. Camera-Aided Robot Calibration defines performance indices that are designed for off-line, optimal selection of measurement configurations. It then describes three approaches: closed-form, gradient-based, and statistical optimization. The included case study presents experimental results that were obtained by calibrating common industrial robots. Different stages of operation are detailed, illustrating the applicability of the suggested techniques for robot calibration. Appendices provide readers with preliminary materials for easier comprehension of the subject matter. Camera-Aided Robot Calibration is a must-have reference for researchers and practicing engineers-the only one with all the information!
Book Synopsis Error Compensation for Industrial Robots by : Wenhe Liao
Download or read book Error Compensation for Industrial Robots written by Wenhe Liao and published by Springer Nature. This book was released on 2022-11-29 with total page 247 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book highlights the basic theories and key technologies of error compensation for industrial robots. The chapters are arranged in the order of actual applications: establishing the robot kinematic models, conducting error analysis, conducting kinematic and non-kinematic calibrations, and planning optimal sampling points. To help readers effectively apply the technologies, the book elaborates the experiments and applications in robotic drilling and milling, which further verifies the effectiveness of the technologies. This book presents the authors’ research achievements in the past decade in improving robot accuracy. It is straightforwardly applicable for technical personnel in the aviation field, and provides valuable reference for researchers and engineers in various robotic applications.
Book Synopsis Enhancement of Positional Accuracy in Off-line Programming of an Industrial Robot by : M. S. Devgun
Download or read book Enhancement of Positional Accuracy in Off-line Programming of an Industrial Robot written by M. S. Devgun and published by . This book was released on 1987 with total page 14 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Improved Industrial Robot Positional Accuracy for Machining with Bias Correction by : Ian Jeavons
Download or read book Improved Industrial Robot Positional Accuracy for Machining with Bias Correction written by Ian Jeavons and published by . This book was released on 2020 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Fundamentals of Manipulator Calibration by : Benjamin W. Mooring
Download or read book Fundamentals of Manipulator Calibration written by Benjamin W. Mooring and published by Wiley-Interscience. This book was released on 1991-03-19 with total page 360 pages. Available in PDF, EPUB and Kindle. Book excerpt: Describes the details of the calibration process step-by-step, covering systems modeling, measurement, identification, correction and performance evaluation. Calibration techniques are presented with an explanation of how they interact with each other as they are modified. Shows the reader how to determine if, in fact, a robot problem is a calibration problem and then how to analyze it.
Book Synopsis Singularity-Based Calibration - A Novel Approach for Absolute-Accuracy Enhancement of Parallel Robots by : Philipp Last
Download or read book Singularity-Based Calibration - A Novel Approach for Absolute-Accuracy Enhancement of Parallel Robots written by Philipp Last and published by . This book was released on 2010 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: For the first time a robot calibration approach has been presented that does exclusively rely on the information delivered by the robot-system itself. Hence, as neither additional sensors nor special constraint devices are required in order to apply parameter identification methods, the proposed technique is very economical and easy to use. It is thus especially convenient to be used in small and medium sized companies which do neither own special robot calibration equipment nor have professional skilled robot calibration experts. The basic idea of the new calibration scheme has been explained from a theoretical point of view by means of a simple example structure and subsequently validated through experiments by means of a more complex spatial parallel structure. The obtained results emphasize the promising potential of the approach.
Book Synopsis Robot Accuracy Improvement Through Kinematic Parameter Identification by : Tsing-Wong Hsu
Download or read book Robot Accuracy Improvement Through Kinematic Parameter Identification written by Tsing-Wong Hsu and published by . This book was released on 1987 with total page 216 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Robotics and Mechatronics by : Richard (Chunhui) Yang
Download or read book Robotics and Mechatronics written by Richard (Chunhui) Yang and published by Springer. This book was released on 2019-07-01 with total page 324 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book gathers the proceedings of the ISRM 2017, the fifth IFToMM International Symposium on Robotics and Mechatronics, which was jointly organised by the School of Computing, Engineering and Mathematics at Western Sydney University, Australia and by the IFToMM Technical Committee on Robotics and Mechatronics. The respective contributions showcase the latest advances, trends and future challenges in Computer Modelling and Simulation, Kinematics and Dynamics of Multi-Body Systems, Advanced Dynamics and Control Methods, Linkages and Mechanical Controls, Parallel Manipulators, Mechanism Design, Sensors and Actuators, Mobile Robotics: Navigation and Motion Planning, Bio-inspired Robotics, Micro/Nano-Robotics and Complex Robotic Systems.
Book Synopsis Two-dimensional Pose Estimation of Industrial Robotic Arms in Highly Dynamic Collaborative Environments by : Thomas Gulde
Download or read book Two-dimensional Pose Estimation of Industrial Robotic Arms in Highly Dynamic Collaborative Environments written by Thomas Gulde and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: In modern collaborative production environments where industrial robots and humans are supposed to work hand in hand, it is mandatory to observe the robot's workspace at all times. Such observation is even more crucial when the robot's main position is also dynamic e.g. because the system is mounted on a movable platform. As current solutions like physically secured areas in which a robot can perform actions potentially dangerous for humans, become unfeasible in such scenarios, novel, more dynamic, and situation aware safety solutions need to be developed and deployed. This thesis mainly contributes to the bigger picture of such a collaborative scenario by presenting a data-driven convolutional neural network-based approach to estimate the two-dimensional kinematic-chain configuration of industrial robot-arms within raw camera images. This thesis also provides the information needed to generate and organize the mandatory data basis and presents frameworks that were used to realize all involved subsystems. The robot-arm's extracted kinematic-chain can also be used to estimate the extrinsic camera parameters relative to the robot's three-dimensional origin. Further a tracking system, based on a two-dimensional kinematic chain descriptor is presented to allow for an accumulation of a proper movement history which enables the prediction of future target positions within the given image plane. The combination of the extracted robot's pose with a simultaneous human pose estimation system delivers a consistent data flow that can be used in higher-level applications. This thesis also provides a detailed evaluation of all involved subsystems and provides a broad overview of their particular performance, based on novel generated, semi automatically annotated, real datasets.
Book Synopsis Accuracy and Repeatability of Industrial Robots by : Marko Robert Stech
Download or read book Accuracy and Repeatability of Industrial Robots written by Marko Robert Stech and published by . This book was released on 1986 with total page 292 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Positioning of Robotic Manipulator End Effector Using Joint Error Maximum Mutual Compensation by : Yauheni Veryha
Download or read book Positioning of Robotic Manipulator End Effector Using Joint Error Maximum Mutual Compensation written by Yauheni Veryha and published by Logos Verlag Berlin. This book was released on 2006 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Many researchers have been doing their best in the last decades to improve such important characteristics of robots as their positioning and orientation accuracy. However, constantly increasing industry demand of achieving high positioning accuracy still requires further research and improvements in this area. Have you ever tried to build the highest one-column tower out of domino blocks? If you imagine that the height of your domino tower is equivalent to the robot end-effector positioning accuracy, then the errors in robot joints can be equivalent to the inaccuracy of placing the domino blocks on the top of your tower. Hence, if the position of the following domino block in the tower can compensate previous mistakes made with other domino blocks, then one can expect that joint errors in robots can also compensate each other if one is able to find appropriate configurations for robot joints. The latter problem was targeted in this book. The general-purpose algorithms and sim ulation frameworks to find optimal configurations of various types of industrial robots are presented. The method for robotic manipulator positioning accuracy improvement using joint error maximum mutual compensation was developed to help engineers to design and implement their robotic systems with the maximum possible positioning and orientation accuracy. Our approach can be widely used on the stages of robot end-effector trajectory planning. In most practical cases, one can observe the improvement of robot end-effector positioning accuracy by ten - fifteen percent and, in extreme cases, by two times and more. Surprisingly, this can be achieved without any additional hardware or measurement equipment.
Book Synopsis A Discussion on Positioning Accuracy on Industrial Robots by : Souji Inagaki
Download or read book A Discussion on Positioning Accuracy on Industrial Robots written by Souji Inagaki and published by . This book was released on 1979 with total page 12 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Proceedings of the ... International Symposium on Industrial Robots by :
Download or read book Proceedings of the ... International Symposium on Industrial Robots written by and published by . This book was released on 1987 with total page 1468 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Improving the Absolute Accuracy of Industrial Robots by : Darpan Patel
Download or read book Improving the Absolute Accuracy of Industrial Robots written by Darpan Patel and published by . This book was released on 2019 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
