Review
Chemistry, Multidisciplinary
Kai Wu, Jiaquan Li, Huan Zhao, Yong Zhong
Summary: This paper provides a review and classification of stiffness modeling methods for industrial robots. It introduces finite element analysis, matrix structure analysis, and virtual joint modeling methods, and discusses common techniques for measuring deformation and future research directions.
APPLIED SCIENCES-BASEL
(2022)
Article
Mathematics
Jun Cheng, Shusheng Bi, Chang Yuan
Summary: This paper proposes a new algorithm for accurately identifying the dynamic parameters of a 6-DOF robot by establishing a dynamic model and using quaternions as angle coordinates. The algorithm is validated through a simulation example, demonstrating its correctness and accuracy.
Article
Engineering, Mechanical
Congcong Ye, Jixiang Yang, Han Ding
Summary: Industrial robots are useful for machining large complex structural parts due to their flexibility and low cost, but stiffness deformation affects milling accuracy. Traditional stiffness models lack accuracy due to ignored factors. A simulation-driven transfer learning method is proposed for accurate deformation prediction with minimal real data compared to conventional models.
INTERNATIONAL JOURNAL OF MECHANICAL SCIENCES
(2022)
Article
Computer Science, Interdisciplinary Applications
Riby Abraham Boby, Alexandr Klimchik
Summary: The combination of geometric and parametric approaches in kinematic identification is proposed in the study. The experimental strategy is similar to the geometric approach, activating each axis one by one. Estimation and correction processes are carried out step by step for improved accuracy.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2021)
Article
Engineering, Electrical & Electronic
Abubaker Ahmed, Hehua Ju, Yang Yang, Hao Xu
Summary: This paper introduces a new method for kinematic modeling of the robot arm using a new elegant mathematical formula based on the axis vector and the tangent of the rotation angle. An innovative analytical quaternion, named the Ju-Gibbs quaternion, is introduced through the integration of Axis-Invariants and unit quaternion features, providing a non-redundant parameter representation of body rotation. Two theorems based on this new form of quaternion are developed and proven for the kinematic modeling of the robot arm. The effectiveness and accuracy of the proposed method are verified through numerical examples and simulations of different structural configurations of robot and human arms.
Article
Automation & Control Systems
Hernan Abaunza, Rohit Chandra, Erol Ozgur, Juan Antonio Corrales Ramon, Youcef Mezouar
Summary: This paper presents a motion control approach for robotic manipulators based on screw theory and dual quaternions. The stability analysis of the controller based on dual quaternions has been conducted, and an additional bounded twist controller has been designed. The proposed controllers achieved smooth coupled motions and showed potential for tasks such as pick and place and assembly operations.
CONTROL ENGINEERING PRACTICE
(2022)
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
Automation & Control Systems
Jiakai Chen, Fugui Xie, Xin-Jun Liu
Summary: This article presents an adsorption machining robot with a parallel configuration. An experiment-based stiffness parameter identification method is proposed to obtain an accurate stiffness model of the robot. An analytical cutting force model is established to predict the external load acting on the robot end-effector. By modifying the NC program offline based on the mirror compensation method, the cutting-force-induced error is compensated. Machining comparison experiments verify the effectiveness of the proposed method, showing a significant improvement in dimensional accuracy of the surface.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2023)
Article
Automation & Control Systems
Riby Abraham Boby
Summary: This article proposes a new method for kinematic identification of an industrial robot using a monocular camera mounted on its end-effector. By measuring solely in 2-D image space, the need for 3-D poses input in this process is eliminated, allowing for estimation of parameter corrections in a single stage. The use of camera enables a combination of geometric and parametric techniques of identification, providing a well-defined experimental strategy and identification of externally defined coordinate frames.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2022)
Article
Mechanics
L. Lechuga-Gutierrez, E. Macias-Garcia, G. Martinez-Teran, J. Zamora-Esquivel, E. Bayro-Corrochano
Summary: This paper presents a set of generalized iterative algorithms for solving the inverse position kinematics of n-degree-of-freedom kinematic chains with revolute joints. The algorithms use gradient descent method and Quaternion Algebra to find the inverse position and velocity kinematics solutions. Additionally, a generalized extension using screw rotors and Conformal Geometric Algebra is developed, which provides efficient update rules for solving the inverse position kinematics problem. Simulation and real-time experiments demonstrate the effectiveness of the proposed methods.
Article
Chemistry, Analytical
Yanding Qin, Pengxiu Geng, Bowen Lv, Yiyang Meng, Zhichao Song, Jianda Han
Summary: This paper proposes a dual-robot system for orthopedic surgeries, addressing the calibration problem between hand-eye, flange-tool, and robot-robot relationships. By using a combined solution of dual quaternion closed-form method and iterative method, the calibration accuracy and convergence speed are improved.
Article
Mathematics
Cozmin Cristoiu, Mario Ivan, Ionut Gabriel Ghionea, Cristina Pupaza
Summary: This paper proposes a method for creating simplified structural schemes and forward geometric models for industrial robots in order to reduce thermal deformation errors and improve positioning accuracy. The method introduces modifications to matrix multiplication order and incorporates new parameters for a forward geometric model that better corresponds to the deformation characteristics of these robots. The implementation of the algorithm in a software application along with experimental results demonstrate its effectiveness in improving robot performance in manufacturing applications.
Article
Engineering, Mechanical
Jintong Liu, Zhendong Zhu, Qiang Zhang, Huiyue Dong, Yunbo Bi
Summary: In this paper, a dual-machine riveting system is developed and the relative stiffnesses of the dual machine in the resisting state are identified by loading tests. A Kriging prediction model is established to describe the relationship between stiffness and postures. The influence of rotational and translational axes on the spatial stiffness distribution of the riveting system is revealed, and the riveting quality is significantly improved after online deformation compensation.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE
(2022)
Article
Computer Science, Information Systems
Yiran Zhang, Kai Guo, Jie Sun, Yujing Sun
Summary: This paper proposes a robust and accurate method for selecting suitable postures in joint stiffness identification, considering the impact of robotic posture on the accuracy of joint stiffness identification. By introducing a new index and corresponding selection procedure, the method achieves better results compared to classical methods.
Article
Computer Science, Interdisciplinary Applications
Xuan Luo, Fugui Xie, Xin-Jun Liu, Zenghui Xie
Summary: An improved method for kinematic calibration of a 5-axis parallel machining robot is proposed, which has been proven to have superior performance in kinematics and identification simulations, and validated through experiments.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2021)
