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Computationally Efficient And Robust Kinematic Calibration Methodologies And Their Application To Industrial Robots
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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 Robot Control and Calibration by : Xin Luo
Download or read book Robot Control and Calibration written by Xin Luo and published by Springer Nature. This book was released on 2023-09-25 with total page 132 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 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 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 Advances in Italian Mechanism Science by : Giuseppe Quaglia
Download or read book Advances in Italian Mechanism Science written by Giuseppe Quaglia and published by Springer Nature. This book was released on with total page 553 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Advances in Italian Mechanism Science by : Vincenzo Niola
Download or read book Advances in Italian Mechanism Science written by Vincenzo Niola and published by Springer Nature. This book was released on 2022-08-05 with total page 924 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the proceedings of the 4th International Conference of IFToMM ITALY (IFIT), held in Naples, Italy on September 7-9, 2022. It includes peer-reviewed papers on the latest advances in mechanism and machine science, discussing topics such as biomechanical engineering, computational kinematics, the history of mechanism and machine science, gearing and transmissions, multi-body dynamics, robotics and mechatronics, the dynamics of machinery, tribology, vibrations, rotor dynamics and vehicle dynamics. A valuable, up-to-date resource, it offers an essential overview of the subject for scientists and practitioners alike, and will inspire further investigations and research.
Book Synopsis Comprehensive Serial Manipulator Forward Kinematics Calibration Scheme by : Wen-Cheng Wu
Download or read book Comprehensive Serial Manipulator Forward Kinematics Calibration Scheme written by Wen-Cheng Wu and published by . This book was released on 2023 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The misalignment error during assembly and/or manufacturing error of robot linkages maycompromise the accuracy of a serial manipulator, causing the actual forward kinematics model parameter to differ from the designed value. This demands the need for forward kinematics calibration. To identify the actual model parameter, the calibration process involves recording datafrom a set of robot poses as input to a parameter identification algorithm. In order to save time on the data acquisition, optimal design of experiment is employed to use the least amount of data points. Also, to avoid unnecessary calculations and numerical issues during parameter identification, identifiability analysis is performed to determine and eliminate unidentifiable parameters. Lastly, this work proposes novel nested algorithm to improve computation efficiency and robustness for parameter identification. This approach exploits the fact that part of the model parameter can be obtained explicitly given the rest of the parameters. This effectively reduces the parameters to find during the iterative identification process and is shown to be more efficient and robust than the commonly used generic method in the literature. The calibration method is applied to a common 6-DOF industrial robot and a customarilydesigned and fabricated 4-DOF surgical robot. For the industrial robot, the nested algorithm demonstrates better robustness, faster error convergence over iteration, and less calculation time than the commonly used generic algorithm. For the surgical robot, the results for optimally designed data points demonstrate a faster convergence of residual error over the number of data points compared to randomly designed data points.
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 An Experimental Comparison of Robot Kinematic Calibration Methods by : Chiang-Kuo Lei
Download or read book An Experimental Comparison of Robot Kinematic Calibration Methods written by Chiang-Kuo Lei and published by . This book was released on 1992 with total page 332 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 Proceedings of the 13th International Conference on Production Research by : E. Dar-El
Download or read book Proceedings of the 13th International Conference on Production Research written by E. Dar-El and published by . This book was released on 1995 with total page 836 pages. Available in PDF, EPUB and Kindle. Book excerpt:
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 Advances in Robot Kinematics by : Sabine Stifter
Download or read book Advances in Robot Kinematics written by Sabine Stifter and published by Springer. This book was released on 1991 with total page 504 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume includes a selection of papers presented at the second workshop on Robot Kinematics held in Linz, September 10-12, 1990. The papers present new results and overviews on various aspects of robot kinematics such as modelling and computation, analysis and design, motion planning and control, inverse kinematics calculations, kinematic redundancy, and parallel mechanisms. Special emphasis was put on the investigation of symbolic computation techniques for problems in robot kinematics.
Author :IEEE Robotics and Automation Society Publisher :Institute of Electrical & Electronics Engineers(IEEE) ISBN 13 : Total Pages :1014 pages Book Rating :4.:/5 (318 download)
Book Synopsis Proceedings of 1995 IEEE International Conference on Robotics and Automation, May 21-27, 1995, Nagoya, Aichi, Japan by : IEEE Robotics and Automation Society
Download or read book Proceedings of 1995 IEEE International Conference on Robotics and Automation, May 21-27, 1995, Nagoya, Aichi, Japan written by IEEE Robotics and Automation Society and published by Institute of Electrical & Electronics Engineers(IEEE). This book was released on 1995 with total page 1014 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Advances in Intelligent Systems, Computer Science and Digital Economics IV by : Zhengbing Hu
Download or read book Advances in Intelligent Systems, Computer Science and Digital Economics IV written by Zhengbing Hu and published by Springer Nature. This book was released on 2023-01-28 with total page 993 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book comprises high-quality peer-reviewed research papers presented at the 4th International Symposium on Computer Science, Digital Economy and Intelligent Systems (CSDEIS2022), held in Wuhan, China, from November 11–13, 2022, organized jointly by the Wuhan University of Technology, Hubei University of Technology, Wuhan University of Science and Technology, the Polish Operational and Systems Society, and the International Center of Informatics and Computer Science (ICICS). The topics discussed in the book include state-of-the-art papers in computer science and their technological applications; intelligent systems and intellectual approaches; digital economics and educational approaches. It is an excellent source of references for researchers, graduate students, engineers, management practitioners, and undergraduate students interested in computer science and its applications in engineering and management.
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 Visual Calibration, Identification and Control of 6-RSS Parallel Robots by : Pengcheng Li
Download or read book Visual Calibration, Identification and Control of 6-RSS Parallel Robots written by Pengcheng Li and published by . This book was released on 2020 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Parallel robots present some outstanding advantages in high force-to-weight ratio, better stiffness and theoretical higher accuracy compared with serial manipulators. Hence parallel robots have been utilized increasingly in various applications. However, due to the manufacturing tolerances and defections in the robot structure, the positioning accuracy of parallel robots is basically equivalent with that of serial manipulators according to previous researches on the accuracy analysis of the Stewart Platform [1], which is difficult to meet the precision requirement of many potential applications. In addition, the existence of closed-chain mechanism yields difficulties in designing control system for practical applications, due to its highly coupled dynamics. Visual sensor is a good choice for providing non-contact measurement of the end-effector pose (position and orientation) with simplicity in operation and low cost compared to other measurement methods such as the coordinate measurement machine (CMM) [2] and the laser tracker [3]. In this research, a series of solutions including kinematic calibration, dynamic identification and visual servoing are proposed to improve the positioning and tracking performance of the parallel robot based on the visual sensor. The main contributions of this research include three parts. In the first part, a relative pose-based algorithm (RPBA) is proposed to solve the kinematic calibration problem of a six-revolute-spherical-spherical (6-RSS) parallel robot by using the optical CMM sensor. Based on the relative poses between the candidate and the initial configurations, a calibration algorithm is proposed to determine the optimal error parameters of the robot kinematic model and external parameters introduced by the optical sensor. The experimental results demonstrate that the proposal RPBA using optical CMM is an implementable and effective method for the parallel robot calibration. The second part focuses on the dynamic model identification of the 6-RSS parallel robots. A visual closed-loop output-error identification method based on an optical CMM sensor is proposed for the purpose of the advanced model-based visual servoing control design of parallel robots. By using an outer loop visual servoing controller to stabilize both the parallel robot and the simulated model, the visual closed-loop output-error identification method is developed and the model parameters are identified by using a nonlinear optimization technique. The effectiveness of the proposed identification algorithm is validated by experimental tests. In the last part, a dynamic sliding mode control (DSMC) scheme combined with the visual servoing method is proposed to improve the tracking performance of the 6-RSS parallel robot based on the optical CMM sensor. By employing a position-to-torque converter, the torque command generated by DSMC can be applied to the position controlled industrial robot. The stability of the proposed DSMC has been proved by using Lyapunov theorem. The real-time experiment tests on a 6-RSS parallel robot demonstrate that the developed DSMC scheme is robust to the modeling errors and uncertainties. Compared with the classical kinematic level controllers, the proposed DSMC exhibits the superiority in terms of tracking performance and robustness.
