Article
Engineering, Electrical & Electronic
Xiaobin Xu, Yonghua Bai, Minghui Zhao, Jian Yang, Fenglin Pang, Yingying Ran, Zhiying Tan, Minzhou Luo
Summary: This study proposes a novel method based on the improved manta ray foraging optimization (MRFO) algorithm for kinematic parameters calibration of a robotic arm to reduce the absolute positioning error. The error model of the robot is established using the Denavit-Hartenberg (D-H) method and the redundant parameters are eliminated. The kinematic parameter identification is transformed into a nonlinear optimization problem. The original MRFO algorithm is improved by incorporating natural selection and adaptive parameter control strategies to enhance search performance and convergence speed. The experimental results demonstrate that the improved MRFO algorithm significantly reduces the position error of the robot end, achieving high identification accuracy and fast convergence speed.
IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
(2023)
Article
Automation & Control Systems
Tao Sun, Chaoyu Liu, Binbin Lian, Panfeng Wang, Yimin Song
Summary: A robot calibration method using finite and instantaneous screw theory is proposed in this article, defining errors explicitly, introducing an advanced optimization algorithm for identification, and compensating errors by modifying inputs.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2021)
Article
Robotics
Alberto Dalla Libera, Nicola Castaman, Stefano Ghidoni, Ruggero Carli
Summary: This article presents an algorithm that learns a forward kinematics model of a robot from visual observations and evaluates its effectiveness through extensive simulations and experiments on a real UR10 robot.
IEEE TRANSACTIONS ON ROBOTICS
(2021)
Article
Engineering, Mechanical
Helene Chanal, Jean Baptiste Guyon, Adrien Koessler, Quentin Dechambre, Benjamin Boudon, Benoit Blaysat, Nicolas Bouton
Summary: This article introduces a new geometric vector modeling method for serial kinematic robots based on defining the position and orientation of robot joints, as well as an identification process using Circle Point Analysis. By directly identifying joint invariants using measured points from a laser tracker, this methodology improves inverse kinematic error.
MECHANISM AND MACHINE THEORY
(2021)
Article
Computer Science, Interdisciplinary Applications
Lei Miao, Yongliang Zhang, Zhichao Song, Yingjie Guo, Weidong Zhu, Yinglin Ke
Summary: This paper proposes a two-step method for robot kinematic parameters calibration and a novel method for position and orientation measurement, which identify these two types of errors respectively. The proposed two-step calibration method has faster iteration speed and higher identification accuracy compared with the traditional method. Experimental results show that the proposed two-step calibration method with redundancy elimination improves the absolute position accuracy by 41.81% compared with the traditional method and 14.97% compared with the two-step calibration method without redundancy elimination. The orientation errors after calibration are not more than 0.1485 degrees, with an average absolute error of 0.0447.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2023)
Article
Chemistry, Analytical
Sreekanth Kana, Juhi Gurnani, Vishal Ramanathan, Sri Harsha Turlapati, Mohammad Zaidi Ariffin, Domenico Campolo
Summary: Accurate kinematic modelling is essential for the safe and reliable execution of robotic applications. This study proposes a fast-recalibration approach to extract calibrated intrinsic parameters from a factory-calibrated controller, and minimize the kinematic mismatch between the ideal and factory-calibrated robot models.
Article
Engineering, Mechanical
Hang Li, Xiaobing Hu, Xuejian Zhang, Shangyun Wei, Qingyi Luo
Summary: The positioning accuracy of industrial robots is crucial for their application in precision manufacturing, and calibrating the robot's kinematic parameters is necessary. Previous studies have used complicated and time-consuming nonlinear equations to solve kinematic parameters. However, a standard particle swarm optimization (PSO) algorithm is limited in terms of running time and solution efficiency. Therefore, this study proposes a dynamic PSO algorithm based on roulette wheel selection (RWS-PSO) for kinematic parameter calibration. The RWS-PSO algorithm outperforms the standard PSO algorithm in terms of time cost and precision, achieving a reduced running time of approximately 53%.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE
(2023)
Article
Computer Science, Interdisciplinary Applications
Guoyue Luo, Lai Zou, Ziling Wang, Chong Lv, Jing Ou, Yun Huang
Summary: This paper proposes a novel method for kinematic parameters calibration of industrial robots, which combines Levenberg-Marquardt and Differential Evolution algorithms to significantly improve the absolute positioning accuracy of the robot.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2021)
Article
Computer Science, Information Systems
Yue Zhang, Jiawen Guo, Xueyan Li
Summary: The paper proposes an analytical method to determine the identifiable kinematic parameters for serial-robot calibration under different identification conditions, based on the analysis of redundant parameters using the DH model. The linear relationship between columns of the Jacobian matrix is analyzed theoretically, providing clear results on redundant error parameters and linear independent parameters after removal of redundancies in robots with different configurations. This study also elaborates on the physical meanings of redundant parameters and verifies the correctness of the parameter redundancy analysis through parameter identification simulation experiments.
Article
Engineering, Multidisciplinary
Xiaopeng Chen, Yanyang Liu, Yang Xu, Siyuan Gou, Siyan Ma, Zakir Ullah
Summary: This paper proposes a new kinematic error model and reduces the complexity of calculation using a grouped Taylor expansion based approximation approach to perform nonlinear optimization for identifying geometric error parameters. Experimental results validate that the identified geometric parameters successfully improve measurement accuracy.
Article
Computer Science, Artificial Intelligence
Qian Wang, Bo Jin, Ce Zhang
Summary: This paper proposes a cost-effective kinematic calibration method for a hexapod robot, using a monocular camera and planar markers, to improve the positioning accuracy and walking performance of the robot.
MACHINE VISION AND APPLICATIONS
(2022)
Article
Optics
Lingbin Bu, Hongtao Huo, Xiaoyuan Liu, Fanliang Bu
Summary: This paper proposes a method of camera calibration using concentric circle grid patterns, which achieves accurate detection of control points through the geometric structure of multiple concentric circles and a local sub-pixel edge detection algorithm. This method can effectively extract control points from complex scenes and performs superiorly in calibration accuracy.
OPTICS AND LASERS IN ENGINEERING
(2021)
Article
Engineering, Mechanical
Xuhao Wang, Shuo Sun, Peilun Zhang, Mengli Wu, Chen Zhao, Dawei Zhang, Xiangzhi Meng
Summary: This paper presents a model-based kinematic and non-kinematic calibration method for a 7R 6-DOF robot with non-spherical wrist. The proposed method compensates for kinematic errors and compliance errors from external load and self-gravity. A step-by-step procedure for error parameter estimation is proposed using a laser tracker as a measuring device.
MECHANISM AND MACHINE THEORY
(2022)
Article
Engineering, Industrial
Jinlei Zhuang, Ruifeng Li, Chuqing Cao, Yunfeng Gao, Ke Wang, Feiyang Wang
Summary: A new measurement principle and a novel calibration method are proposed in this paper, which can simultaneously identify joint stiffness, kinematic and hand-eye parameters, achieving higher measurement accuracy and parameter identification accuracy suitable for on-site calibration.
INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION
(2021)
Article
Automation & Control Systems
Yisheng Guan, Zhaoheng Zeng, Daye Chen, Tao Zhang, Haifei Zhu, Li He
Summary: The article introduces the Essboard, a unique two-wheeled vehicle with a special structure and locomotion mode, focusing on its kinematics. The geometric model and kinematic equations of the system are established, and the accuracy of the model is verified through simulation and experimentation. The developed kinematics are general and can be applied to similar monorail vehicles such as bicycles and motorcycles.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2021)
Article
Engineering, Multidisciplinary
Sergio Aguado, Jorge Santolaria, David Samper, Juan Jose Aguilar
MEASUREMENT SCIENCE AND TECHNOLOGY
(2017)
Article
Engineering, Industrial
R. Acero, A. Brau, J. Santolaria, M. Pueo
JOURNAL OF MANUFACTURING SYSTEMS
(2017)
Article
Engineering, Multidisciplinary
A. Brau-Avila, J. Santolaria, R. Acero, M. Valenzuela-Galvan, V. M. Herrera-Jimenez, J. J. Aguilar
MEASUREMENT SCIENCE AND TECHNOLOGY
(2017)
Article
Engineering, Biomedical
Cristina Del Amo, Vanesa Olivares, Mar Condor, Alejandro Blanco, Jorge Santolaria, Jesus Asin, Carlos Borau, Jose Manuel Garcia-Aznar
JOURNAL OF THE MECHANICAL BEHAVIOR OF BIOMEDICAL MATERIALS
(2018)
Article
Engineering, Industrial
Marcos Pueo, Jorge Santolaria, Raquel Acero, Jorge Sierra-Perez
INTERNATIONAL JOURNAL OF PRODUCTION RESEARCH
(2020)
Article
Chemistry, Physical
Francisco Javier Brosed, Raquel Acero Cacho, Sergio Aguado, Marta Herrer, Juan Jose Aguilar, Jorge Santolaria Mazo
Article
Chemistry, Physical
Sergio Aguado, Pablo Perez, Jose Antonio Albajez, Jorge Santolaria, Jesus Velazquez
Article
Chemistry, Analytical
Juan Jose Aguilar, Raquel Acero, Francisco Javier Brosed, Jorge Santolaria
Article
Chemistry, Analytical
Marcos Pueo, Raquel Acero, Angel Gracia, Jorge Santolaria
Review
Materials Science, Multidisciplinary
Mario Enrique Hernandez Korner, Maria Pilar Lamban, Jose Antonio Albajez, Jorge Santolaria, Lisbeth del Carmen Ng Corrales, Jesus Royo
Article
Chemistry, Analytical
Raquel Acero, Juan Jose Aguilar, Francisco Javier Brosed, Jorge Santolaria, Sergio Aguado, Marcos Pueo
Summary: This paper presents a new design of multi-point kinematic coupling for a high precision multi-telescopic arm measurement system for the volumetric verification of machine tools with linear and/or rotary axes. The coupling allows simultaneous operation of three telescopic arms to ensure accurate multi-point contact during the verification process. Simulation results show minimal deformation under load, assuring precision in distance measurement. Experimental results demonstrate repeatability values below +/- 1.2 mu m.
Article
Chemistry, Analytical
Jesus Velazquez, Javier Conte, Ana Cristina Majarena, Jorge Santolaria
Summary: This paper presents a calibration procedure to improve the accuracy of laser trackers (LT) using network measurements of reflectors in a working environment. The method addresses the lack of nominal data of the reflector mesh and identifies sensitive positions to errors based on error parameter dependence on distances and angles. The calibration procedure can improve LT accuracy up to 25% and can be carried out by the LT user without requiring specialized equipment.
Article
Chemistry, Multidisciplinary
Phuong Thao Ho, Jose Antonio Albajez, Jorge Santolaria, Jose A. Yague-Fabra
Summary: This paper conducts a systematic literature review on the application of AR technology in the quality sector in an industry 4.0 context. It identifies three main categories of AR-based solutions for quality sector and improves an AR architecture layer framework for the development of long-term AR-based solutions in the future.
APPLIED SCIENCES-BASEL
(2022)
Proceedings Paper
Engineering, Biomedical
Francisco J. Medel, Maria Povar, Jorge Santolaria
BEYOND THE IMPLANT: RETRIEVAL ANALYSIS METHODS FOR IMPLANT SURVEILLANCE
(2018)