A Simulation Analysis of Pose Measurement Error in Robot Calibration

1990 ◽  
Vol 112 (3) ◽  
pp. 504-507 ◽  
Author(s):  
D. V. Hutton ◽  
D. L. Riley
Keyword(s):  
Measurement Error ◽  
Precise Measurement ◽  
Simulation Analysis ◽  
Robotic Manipulator ◽  
Robot Calibration ◽  
Accuracy Improvement ◽  
Test Fixture ◽  
Subsequent Application ◽  
Position And Orientation

Calibration of a robotic manipulator and subsequent application of accuracy improvement techniques require precise measurement of manipulator position and orientation. This paper presents a comparison of two methods for computing position and orientation based on six or nine linear displacements measured in a test fixture.

scholarly journals DESIGN & KINEMATIC ANALYSIS OF AN ARTICULATED ROBOTIC MANIPULATOR

2014 ◽  
pp. 12-15
Author(s):  
ELIAS ELIOT ◽  
B.B.V.L. DEEPAK ◽  
D.R. PARHI ◽  
J. SRINIVAS
Keyword(s):  
Kinematic Model ◽  
Robotic Manipulator ◽  
Path Tracking ◽  
Primary Level ◽  
Industrial Manipulator ◽  
Pick And Place ◽  
Position And Orientation ◽  
End Effectors ◽  
Forward Kinematic ◽  
Five Axes

This paper describes the design, fabrication and analysis a five axes articulated robotic manipulator. The current work is undertaken by considering various commercially available robotic kits to design and fabricate a five degree of freedom (D.O.F) arm. Forward kinematic model has been presented in order to determine the end effectors position and orientation. Although this work is still in primary level, this analysis is useful for path tracking of an industrial manipulator with pick-and-place application. Based on this analysis, a researcher can develop path tracking behaviour of an end effector in complicated work space.

The accuracy improvement of clear-sky surface shortwave radiation derived from CERES SSF dataset with a simulation analysis

2020 ◽  
Vol 749 ◽  
pp. 141671
Author(s):  
Guan Huang ◽  
Qiong Liu ◽  
Yanyu Wang ◽  
Qianshan He ◽  
Yonghang Chen ◽  
...  
Keyword(s):  
Simulation Analysis ◽  
Shortwave Radiation ◽  
Accuracy Improvement ◽  
Clear Sky

The Calibration of Manipulator Based on Linear Precision

2012 ◽  
Vol 182-183 ◽  
pp. 1545-1548
Author(s):  
Wen Guang Li ◽  
Guang Liang Liu ◽  
Dong Yang ◽  
Tie Chen ◽  
Wei Chen
Keyword(s):  
Simulation Method ◽  
Calibration Method ◽  
Evaluation Function ◽  
Absolute Accuracy ◽  
Kinematic Parameters ◽  
Robot Calibration ◽  
Position And Orientation ◽  
The Absolute

In order to improve the absolute accuracy of the robot, one new simple and inexpensive, yet accurate robot calibration method is presented. The process assumes the robot can move along a line in the robot’s workspace. The actuators remember the angle information of each joint, when the robot moves along the line. The date that obtained by this method, simplify the process of deducing the kinematic parameters. The paper establishes the evaluation function, which demonstrates the fitness degree of the robot’s position and orientation to the line. In the end, simulation method has been adopted to testify the method, and the method is shown simple and feasible.

Visual Servo Kinematic Control for Robotic Manipulators

2018 ◽  
pp. 1-25
Author(s):  
Zheng Hong Zhu ◽  
Gangqi Dong
Keyword(s):  
Multiple Solutions ◽  
Robotic Manipulators ◽  
Robotic Manipulator ◽  
Robotic Control ◽  
Visual Servo ◽  
Kinematic Control ◽  
Control Approach ◽  
Control Scheme ◽  
Position And Orientation ◽  
Adaptive Extended Kalman Filter

In the last couple of decades, massive industrial application demands greatly accelerated the advances of control theories for robotic manipulator. However, the autonomous robotic capture is still facing many technical challenges. A novel visual servo kinematic control scheme for robotic manipulators to perform autonomous capture operation of a non-cooperative target is presented. An integrated algorithm of the photogrammetry and the adaptive extended Kalman filter is introduced to estimate the position and orientation of the target. In order to improve the reliability of the robotic control and to avoid the multiple solutions problem of inverse kinematics, a kinematics-based incremental control approach is adopted to control the robotic manipulator in real time. Validating experiments are performed on a custom built robotic manipulator with an eye-in-hand configuration. The experimental results demonstrate the effectiveness and robustness of the proposed control visual servo kinematic control scheme.

Theta_JC Metrology Development: Fixture Design Modeling

2005 ◽  
Author(s):  
Michael Butch M. Dizon ◽  
Suzana Prstic ◽  
Sung-Won Moon
Keyword(s):  
Measurement Error ◽  
Heat Loss ◽  
Fluid Dynamic ◽  
Junction Temperature ◽  
Cfd Modeling ◽  
Design Parameters ◽  
Fixture Design ◽  
Power Modeling ◽  
Test Fixture ◽  
Probe Orientation

The junction-to-case thermal resistance or Theta_JC is one of the important metrics used to evaluate the performance and reliability of a particular electronic package. Currently, there is no established JEDEC standard for a Theta_JC test fixture. This paper presents the results of computational fluid dynamic (CFD) modeling studies carried out to propose a simple and robust Theta_JC fixture. The theoretical Theta_JC value for a particular package was first obtained assuming idealized conditions. The model was then modified to incorporate actual fixture conditions. The objective is to design a tester fixture that reduces the Theta_JC measurement error, i.e. ideal vs. fixture. The effect of various design parameters on the measured Theta_JC value was investigated. Sensitivity studies included cavity or insulation configuration, cold plate size, thermocouple probe orientation, thermal interface materials, and applied power. Modeling results showed that, regardless of the insulation design, there was considerable heat loss through the test board on which the package was mounted. This resulted in a lower Theta_JC value measured, with errors up to 30%. To reduce the heat loss and measurement error, a heater was mounted at the bottom of the board and maintained at a temperature within 1 to 2°C of the junction temperature. Using this simple approach, the measurement error was reduced to around 6%. From the results of the study, an optimized prototype fixture design is proposed.

scholarly journals Initial Estimation of Kinematic Structure of a Robotic Manipulator as an Input for Its Synthesis

2021 ◽  
Vol 11 (8) ◽  
pp. 3548
Author(s):  
Daniel Huczala ◽  
Tomáš Kot ◽  
Martin Pfurner ◽  
Dominik Heczko ◽  
Petr Oščádal ◽  
...  
Keyword(s):  
Numerical Methods ◽  
Robotic Manipulator ◽  
Search Algorithms ◽  
The Other ◽  
Local Optimum ◽  
Kinematic Structure ◽  
Link Length ◽  
Vector Algebra ◽  
Position And Orientation ◽  
The Cost

Researchers often deal with the synthesis of the kinematic structure of a robotic manipulator to determine the optimal manipulator for a given task. This approach can lower the cost of the manipulator and allow it to achieve poses that might be unreachable by universal manipulators in an existing constrained environment. Numerical methods are broadly used to find the optimum design but they often require an estimated initial kinematic structure as input, especially if local-optimum-search algorithms are used. This paper presents four different algorithms for such an estimation using the standard Denavit–Hartenberg convention. Two of the algorithms are able to reach a given position and the other two can reach both position and orientation using Bézier splines approximation and vector algebra. The results are demonstrated with three chosen example poses and are evaluated by measuring manipulability and the total link length of the final kinematic structures.

Kinematic calibration of the parallel Delta robot

Robotica ◽  
1998 ◽  
Vol 16 (2) ◽  
pp. 207-218 ◽  
Author(s):  
Peter Vischer ◽  
Reymond Clavel
Keyword(s):  
Calibration Model ◽  
Kinematic Calibration ◽  
Accuracy Improvement ◽  
End Effector ◽  
Mechanical Parts ◽  
Perfect Model ◽  
Calibration Models ◽  
Position And Orientation ◽  
Delta Robot ◽  
Set Up

This article deals with the kinematic calibration of the Delta robot. Two different calibration models are introduced: The first one takes into account deviations of all mechanical parts except the spherical joints, which are assumed to be perfect (“model 54”), the second model considers only deviations which affect the position of the end-effector, but not its orientation, assuming that the “spatial parallelogram” remains perfect (“model 24”). A measurement set-up is presented which allows to determine the end-effector's position and orientation with respect to the base. The measurement points are later be used to identify the parameters of the two calibration model resulting in an accuracy improvement of a factor of 12.3 for the position and a factor of 3.7 for the prediction of the orientation.

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