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Affordable Robot Calibration For Industrial Robots
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Book Synopsis Affordable Robot Calibration for Industrial Robots by : Albert Nubiola
Download or read book Affordable Robot Calibration for Industrial Robots written by Albert Nubiola and published by LAP Lambert Academic Publishing. This book was released on 2015-12-24 with total page 136 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robot calibration is the process of identifying the real geometrical parameters in the kinematic structure of an industrial robot. This book compares different robot calibration methods used in the industry with different measurement systems (laser trackers, stereo cameras, touch probes, ...). This work introduces easier and more affordable robot calibration methods, such as calibrating robots with a telescoping ballbar. The robot calibration methods described in this book are the same methods used in RoboDK, a software tool for offline programming, robot calibration and robot performance tests, including the ISO 9283 tests.
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 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 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 Kinematic Calibration for Industrial Robots by : John Charles Ziegert
Download or read book Kinematic Calibration for Industrial Robots written by John Charles Ziegert and published by . This book was released on 1989 with total page 394 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Computationally Efficient and Robust Kinematic Calibration Methodologies and Their Application to Industrial Robots by : Temesguen Messay-Kebede
Download or read book Computationally Efficient and Robust Kinematic Calibration Methodologies and Their Application to Industrial Robots written by Temesguen Messay-Kebede and published by . This book was released on 2014 with total page 95 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robot kinematic calibration is the process of enhancing the positioning accuracy of a given manipulator and must be performed after robot manufacture and assembly or during periodical maintenance. This dissertation presents new computationally efficient and robust kinematic calibration algorithms for industrial robots that make use of partial measurements. These include a calibration method that requires the supply of Cartesian coordinates of the calibration points (3DCAL) and another calibration technique that only requires the radial measurements from the calibration points to some reference (1DCAL). Neither method requires orientation measurements nor the explicit knowledge of the where-about of a reference frame. Contrary to most other similar works, both methods make use of a simplified version of the original Denavit-Hartenberg (DH) kinematic model. The simplified DH(-) model has not only proven to be robust and effective in calibrating industrial manipulators but it is also favored from a computational efficiency viewpoint since it consists of comparatively fewer error parameters. We present a conceptual approach to develop a set of guidelines that need to be considered in order to properly construct the DH(-) model such that it is parameterically continuous and non-redundant. We also propose an automated method to provide a characterization of the parameters that can be insightful in identifying redundant/irrelevant parameters and deducing the DH(-) error model of a manipulator. The method is a hybrid scheme comprised of the Simulated Annealing (SA) algorithm and a local solver/optimizer and it conducts a statistical analysis on the estimates of a given error parameter that is indicative of its relevance. For the type of industrial robots used in this dissertation, we made note that calibrating the home position only is sufficient to attain adequate results for most robotics applications. Hence, we put forward for consideration of a yet simpler calibration model; the DH(-)(-) model. We employ the Trust Region (TR) method to minimize the objective functions (solve for the error parameters of the simplified error models) of both frameworks (3DCAL and 1DCAL). We also compare the performance of the proposed methods to that of a state-of-the-art commercial system (Motocal) using the same materials, data and internationally recognized performance standards. Our experimental results suggest that our methods are more robust and yield better results compared to that of MotoCal.
Book Synopsis Handbook on Robot Performance Testing and Calibration by : Klaus Schröer
Download or read book Handbook on Robot Performance Testing and Calibration written by Klaus Schröer and published by . This book was released on 1998 with total page 370 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Industrial Robot Calibration Method and Results by : Daniel E. Whitney
Download or read book Industrial Robot Calibration Method and Results written by Daniel E. Whitney and published by . This book was released on 1984* with total page 14 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Metrology and Calibration Techniques for the Performance Enhancement of Industrial Robots by : Michael E. Sklar
Download or read book Metrology and Calibration Techniques for the Performance Enhancement of Industrial Robots written by Michael E. Sklar and published by . This book was released on 1988 with total page 786 pages. Available in PDF, EPUB and Kindle. Book excerpt:
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 Robot Control and Calibration by : Xin Luo
Download or read book Robot Control and Calibration written by Xin Luo and published by Springer. This book was released on 2023-10-20 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book mainly shows readers how to calibrate and control robots. In this regard, it proposes three control schemes: an error-summation enhanced Newton algorithm for model predictive control; RNN for solving perturbed time-varying underdetermined linear systems; and a new joint-drift-free scheme aided with projected ZNN, which can effectively improve robot control accuracy. Moreover, the book develops four advanced algorithms for robot calibration – Levenberg-Marquarelt with diversified regularizations; improved covariance matrix adaptive evolution strategy; quadratic interpolated beetle antennae search algorithm; and a novel variable step-size Levenberg-Marquardt algorithm – which can effectively enhance robot positioning accuracy. In addition, it is exceedingly difficult for experts in other fields to conduct robot arm calibration studies without calibration data. Thus, this book provides a publicly available dataset to assist researchers from other fields in conducting calibration experiments and validating their ideas. The book also discusses six regularization schemes based on its robot error models, i.e., L1, L2, dropout, elastic, log, and swish. Robots’ positioning accuracy is significantly improved after calibration. Using the control and calibration methods developed here, readers will be ready to conduct their own research and experiments.
Book Synopsis Robotic Measurement System by : Chunhe Gong
Download or read book Robotic Measurement System written by Chunhe Gong and published by . This book was released on 2000 with total page 364 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Simulation and Calibration for Off-line Programming of Industrial Robots by : Uday Sakharam Pathre
Download or read book Simulation and Calibration for Off-line Programming of Industrial Robots written by Uday Sakharam Pathre and published by . This book was released on 1994 with total page 13 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis A Framework for Flexible Integration in Robotics and Its Applications for Calibration and Error Compensation by : Minh Hoang To
Download or read book A Framework for Flexible Integration in Robotics and Its Applications for Calibration and Error Compensation written by Minh Hoang To and published by . This book was released on 2012 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotics has been considered as a viable automation solution for the aerospace industry to address manufacturing cost. Many of the existing robot systems augmented with guidance from a large volume metrology system have proved to meet the high dimensional accuracy requirements in aero-structure assembly. However, they have been mainly deployed as costly and dedicated systems, which might not be ideal for aerospace manufacturing having low production rate and long cycle time. The work described in this thesis is to provide technical solutions to improve the flexibility and cost-efficiency of such metrology-integrated robot systems. To address the flexibility, a software framework that supports reconfigurable system integration is developed. The framework provides a design methodology to compose distributed software components which can be integrated dynamically at runtime. This provides the potential for the automation devices (robots, metrology, actuators etc.) controlled by these software components to be assembled on demand for various assembly applications. To reduce the cost of deployment, this thesis proposes a two-stage error compensation scheme for industrial robots that requires only intermittent metrology input, thus allowing for one expensive metrology system to be used by a number of robots. Robot calibration is employed in the first stage to reduce the majority of robot inaccuracy then the metrology will correct the residual errors. In this work, a new calibration model for serial robots having a parallelogram linkage is developed that takes into account both geometric errors and joint deflections induced by link masses and weight of the end-effectors. Experiments are conducted to evaluate the two pieces of work presented above. The proposed framework is adopted to create a distributed control system that implements calibration and error compensation for a large industrial robot having a parallelogram linkage. The control system is formed by hot-plugging the control applications of the robot and metrology used together. Experimental results show that the developed error model was able to improve the 3s positional accuracy of the loaded robot from several millimetres to less than one millimetre and reduce half of the time previously required to correct the errors by using only the metrology. The experiments also demonstrate the capability of sharing one metrology system to more than one robot.
Book Synopsis Vision Based In-Situ Calibration of Robots by : Trond Martin Augustson
Download or read book Vision Based In-Situ Calibration of Robots written by Trond Martin Augustson and published by LAP Lambert Academic Publishing. This book was released on 2010-08 with total page 152 pages. Available in PDF, EPUB and Kindle. Book excerpt: The majority of today s industrial robots are programmed to follow a predefined trajectory. This is sufficient when the robot is working in a fixed environment where all objects of interest are situated in a predetermined position relative to the robot base. However, if the robot s position is altered, all the trajectories have to be reprogrammed for the robot to be able to perform its tasks. The manipulator considered in this thesis is attached to an ROV (Remote Operating Vehicle). Every time the robot is repositioned, it needs to estimate its position and orientation relative to the work environment. The ROV operates at great depths and there are few sensors which can operate at extreme depths. This is the incentive for the use of computer vision to estimate the relative position of the manipulator. Through cameras, the position of the manipulator is estimated. This information is sent to controllers to correct the pre-programmed trajectories. This work includes camera calibration and calibration of the structure of the manipulator. The increased accuracies achieved by these steps are merged to achieve in-situ calibration of the manipulator base.
Book Synopsis A New Calibration Method for Industrial Robots Based on Machine Vision by :
Download or read book A New Calibration Method for Industrial Robots Based on Machine Vision written by and published by . This book was released on 2018 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
