Article
Engineering, Electrical & Electronic
Zhibin Li, Shuai Li, Xin Luo
Summary: Robots in intelligent production often have positioning errors due to factors like structural errors and gear tolerances, which prevents them from meeting high-precision manufacturing requirements. To address this problem, a novel calibration algorithm called UKF-VSLM is developed, which combines an unscented Kalman filter and a variable step-size Levenberg-Marquardt algorithm. Empirical studies on a HuShu Robotics JR680 industrial robot show that the developed UKF-VSLM algorithm achieves 19.51% higher calibration accuracy compared to the most accurate LM algorithm. These empirical results strongly support the superior performance of the proposed algorithm in addressing robot calibration issues.
IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
(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
Automation & Control Systems
He Xie, Wenlong Li, Hui Liu
Summary: This article proposes a general method for geometry calibration using an arbitrary free-form surface. By incorporating a shape matching algorithm, each measured point on the surface is regarded as a feature point to compare with the design model, resulting in accurate calibration parameters. The method compensates for geometry and matching errors iteratively to improve calibration accuracy. It offers the advantages of versatility for various surface shapes, no requirements on the number of feature points, and convenient robot pose control.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2022)
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, Multidisciplinary
Ping Yang, Kaixin Luo, Runxi Wu
Summary: This article proposes a new calibration device to measure the spatial errors of a six-axis serial robot. The device compensates for errors by modifying angles and identifying stiffness parameters, and experiments verify its effectiveness.
PRECISION ENGINEERING-JOURNAL OF THE INTERNATIONAL SOCIETIES FOR PRECISION ENGINEERING AND NANOTECHNOLOGY
(2024)
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
Computer Science, Interdisciplinary Applications
Kenan Deng, Dong Gao, Shoudong Ma, Chang Zhao, Yong Lu
Summary: This paper proposes a robot calibration method based on an elasto-geometrical error and gravity model, which is difficult to measure and compensate in industrial environments. The position error model is established based on the attitude error of the robot flange coordinate system. Calibration and compensation experiments show that the proposed method can significantly improve the robot tool center point error.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2023)
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
Automation & Control Systems
Henghua Shen, Wen-Fang Xie, Jianyu Tang, Tao Zhou
Summary: In this article, a novel manipulability-based optimal rapidly exploring random tree (RRT*) path planning strategy is proposed for industrial robot manipulators. The strategy imposes two constraints, path length and manipulability measure, when sampling in the search space to find the minimal-cost path connecting the start and goal points. The proposed path planning methods are demonstrated to be efficient through simulation analysis and experimental results of a six-degree-of-freedom FANUC-M-20iA industrial robot.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2023)
Article
Automation & Control Systems
Dongting Li, Emiliano Quinones Yumbla, Alyssa Olivas, Thomas Sugar, Heni Ben Amor, Hyunglae Lee, Wenlong Zhang, Daniel M. Aukes
Summary: This article introduces a wearable exo-shell device inspired by the human spine to improve the gait of elderly people during obstacle avoidance tasks. The device is designed with origami-inspired techniques and features a chain of lockable joints with a braking system. The article describes the kinematics and forces of the device, discusses the integration of various sensors, and characterizes the performance of the device.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2023)
Article
Automation & Control Systems
Van-Tam Ngo, Yen-Chen Liu
Summary: This article proposes two control frameworks for human teleoperation of multiple robots. The first framework integrates adaptive neural networks, task-space synchronization, and robust control to address practical issues in robotic systems. The second framework uses distributed observers to control the robots using only relative position information. Experimental demonstration verifies the effectiveness of these control algorithms.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2023)
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
Robotics
Zhen Liu, Zhiwei Qin, Haibo Gao, Guangyao Sun, Zhongshan Huang, Zongquan Deng
Summary: This letter discusses the initial-pose estimation for redundant cable-driven parallel robots (CDPRs). A calibration method using force sensors is proposed to overcome the limitation of incremental sensors in performing forward kinematics. The self-calibration problem is formulated as a non-linear least-squares optimization problem based on the hybrid joint-space control strategy. The proposed position-determined cable adjustable force (P-CAF) performance index and calibratable space concept are used to maintain quasi-static conditions. A simulated case study validates the calibration process.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2023)
Article
Automation & Control Systems
Elisa Prati, Valeria Villani, Fabio Grandi, Margherita Peruzzini, Lorenzo Sabattini
Summary: This article proposes a new method for designing collaborative robotic systems with a focus on interaction characteristics, emphasizing the interaction experience through a user-centered approach. Through two industrial case studies, the applicability of this method to real-world domains is showcased.
IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
(2022)
Article
Automation & Control Systems
Zhicheng Liu, Xilong Liu, Zhiqiang Cao, Xurong Gong, Min Tan, Junzhi Yu
Summary: This article proposes a new calibration method for vision-guided robot system based on error correction matrix, which achieves high precision joint calibration by unifying different manifestations of errors.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2023)
Article
Chemistry, Analytical
Ahmed Joubair, Long Fei Zhao, Pascal Bigras, Ilian A. Bonev
Article
Automation & Control Systems
Tingting Shu, Sepehr Gharaaty, WenFang Xie, Ahmed Joubair, Ilian A. Bonev
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2018)
Article
Engineering, Electrical & Electronic
Jesper Odum Nielsen, Boyan Yanakiev, Ivan B. Bonev, Morten Christensen, Gert Frolund Pedersen
IEEE TRANSACTIONS ON ANTENNAS AND PROPAGATION
(2012)
Article
Engineering, Industrial
Ahmed Joubair, Mohamed Slamani, Ilian A. Bonev
INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION
(2012)
Article
Engineering, Industrial
Mohamed Slamani, Albert Nubiola, Ilian Bonev
INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION
(2012)
Article
Engineering, Mechanical
MohammadHadi FarzanehKaloorazi, Ilian A. Bonev, Lionel Birglen
MECHANISM AND MACHINE THEORY
(2018)
Article
Engineering, Multidisciplinary
Albert Nubiola, Mohamed Slamani, Ilian A. Bonev
PRECISION ENGINEERING-JOURNAL OF THE INTERNATIONAL SOCIETIES FOR PRECISION ENGINEERING AND NANOTECHNOLOGY
(2013)
Article
Robotics
Mohamed Slamani, Albert Nubiola, Ilian A. Bonev
Article
Computer Science, Interdisciplinary Applications
Albert Nubiola, Ilian A. Bonev
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2013)
Article
Computer Science, Interdisciplinary Applications
Ahmed Joubair, Mohamed Slamani, Ilian A. Bonev
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2013)
Article
Chemistry, Analytical
Martin Gaudreault, Ahmed Joubair, Ilian Bonev
Article
Chemistry, Analytical
Caglar Icli, Oleksandr Stepanenko, Ilian Bonev
Article
Automation & Control Systems
Tarek A. Khaled, Ouassima Akhrif, Ilian A. Bonev
Summary: Commercial six-axis industrial robots, while highly repeatable, have relatively low accuracy. The only way for users to improve path accuracy is by guiding the robot with external sensor and a control algorithm. This article presents a practical application of an active disturbance rejection control scheme to improve the path accuracy of the Meca500 robot by indirectly modifying the end-effector pose through controlling robot joint or Cartesian velocity.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2021)
Article
Robotics
Nicholas A. Nadeau, Ilian A. Bonev, Ahmed Joubair