Article
Automation & Control Systems
Lixin Zhang, Wenxiang Gao, Dawei Lu, Debiao Zeng, Pei Lei, Jiawei Yu, Mutian Tang
Summary: This paper proposes a new robotic drilling system for aircraft automatic assembly, which can meet the requirements of aircraft part drilling with high drilling accuracy and stability, and better system rigidity.
INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY
(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
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
Engineering, Electrical & Electronic
Jie Xue, Zurong Qiu, Lin Fang, Yaohuan Lu, Wenchuan Hu
Summary: The article introduces the design of an angular measurement system based on a vertical instrument, using methods such as angular displacement and regular deformation patterns to improve measurement accuracy. It calibrates absolute circular gratings in the instrument and ultimately achieves accurate angle measurement of the tested reducer.
IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
(2021)
Article
Computer Science, Information Systems
Wei He, Pin Zhang, Kai Guo, Jie Sun, Vinothkumar Sivalingam, Xiaoming Huang
Summary: The application of robots in high-precision automated machining is limited by their limited multi-directional repeatability. This paper proposes a method to improve the positioning accuracy of robots by considering backlash error induced by rotating direction and introducing the concept of robot joint extended space. The spatial similarity of robot error in the extended joint space is analyzed using the robot kinematic model. A dynamic Kriging method based on the optimization of basis functions is proposed to estimate the robot's positioning error in the joint extended space. The proposed calibration method is experimentally validated and shown to significantly improve the robot's positioning accuracy.
Article
Engineering, Multidisciplinary
Mengyao Fan, Huining Zhao, Jie Wen, Liandong Yu, Haojie Xia
Summary: In this paper, a new calibration method for kinematic parameter errors of an industrial robot is proposed using the Levenberg-Marquard and the beetle antennae search algorithm, which effectively enhances the positioning accuracy. The kinematic model of the industrial robot is established based on the Modified Denavit-Hartenberg model. The kinematic parameter errors are calibrated using the Levenberg-Marquard algorithm and then optimized using the beetle antennae search algorithm. Experimental results show that the proposed method significantly reduces the positioning error of the industrial robot from 0.7332 mm to 0.1392 mm.
MEASUREMENT SCIENCE AND TECHNOLOGY
(2023)
Article
Engineering, Mechanical
Hao Ye, Jun Wu, Tian Huang
Summary: In this article, a general calibration framework is proposed to unify geometric errors and internal deformation in over-constrained robots. The framework considers the interaction between errors and deformation and predicts the position of the end-effector accurately under geometric errors.
MECHANISM AND MACHINE THEORY
(2023)
Article
Engineering, Multidisciplinary
Dahu Cao, Wei Liu, Shun Liu, Jia Chen, Wang Liu, Jimin Ge, Zhaohui Deng
Summary: A method for simultaneous calibration of hand-eye relationship and kinematics of industrial robots using a line-structured light sensor is proposed. By establishing a simultaneous calibration model and conducting calibration and validation experiments using standard balls, the distance error of the robot is significantly reduced.
Article
Robotics
Xiangzhen Chen, Qiang Zhan
Summary: The article proposes a kinematic calibration method based on an improved beetle swarm optimization algorithm for an industrial robot, with simulations and experiments demonstrating that the proposed algorithm has faster convergence and higher positioning accuracy compared to other algorithms in the first 20 iterations.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Engineering, Mechanical
Chenhui Huang, Fugui Xie, Xin-Jun Liu, Qizhi Meng
Summary: This paper presents a kinematic calibration method for a four-degree-of-freedom high-speed parallel robot. A measurement configuration optimization method is proposed to improve the calibration effect by reducing the influence of unobservable disturbance variables. Configurations are iteratively selected within the workspace and evaluated based on an index related to the condition number of the identification Jacobian matrix. The results show that using the optimized configurations can significantly improve the identification accuracy and calibration effect.
JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME
(2022)
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)
Article
Engineering, Multidisciplinary
Fuwen Yin, Lina Wang, Wenjie Tian, Xiangpeng Zhang
Summary: This paper focuses on the kinematic calibration of a new 5-DOF hybrid robot, aiming to suppress the impact of 'observation noise' caused by the measurement system and unconsidered source errors. The proposed method utilizes screw theory and an extended Kalman filter to improve the accuracy of the robot through error compensation. Experimental results demonstrate the effectiveness and general applicability of the proposed strategy.
PRECISION ENGINEERING-JOURNAL OF THE INTERNATIONAL SOCIETIES FOR PRECISION ENGINEERING AND NANOTECHNOLOGY
(2023)
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
Engineering, Multidisciplinary
Yixuan Guo, Zhouxiang Jiang, Bao Song, Xiaoqi Tang, Huasong Min, Chenglong Fu
Summary: This paper proposes a kinematic calibration method based on an optimized distance error function to improve the accuracy of relative positions in industrial robots. By designing a three-dimensional measurement system and an optimization function, the robot calibration is successfully implemented, and the influence of redundant parameters on relative position errors is analyzed.
Article
Chemistry, Multidisciplinary
Tianyan Chen, Jinsong Lin, Deyu Wu, Haibin Wu
Summary: A calibration method is proposed to enhance the APA of industrial robots by measuring and calibrating the RBCS and FCS, identifying and compensating parameter errors. Experimental results show that this method can effectively improve the APA of the robot.
APPLIED SCIENCES-BASEL
(2021)