Study on Kalman dynamic prediction and feedback parameter optimization of laser tracking system

2021 ◽  
Author(s):  
Jin Shi ◽  
Miao Lijun ◽  
Xu Qinghua ◽  
Shu Xiaowu ◽  
Che Shuangliang
Keyword(s):  
Parameter Optimization ◽  
Tracking System ◽  
Dynamic Prediction ◽  
Feedback Parameter ◽  
Laser Tracking

scholarly journals Calibration of Kinematic Parameters of Robot Arm Using Laser Tracking System: Compensation for Non-Geometric Errors by Neural Networks and Selection of Optimal Measuring Points by Genetic Algorithm

2012 ◽  
Vol 6 (1) ◽  
pp. 29-37 ◽  
Author(s):  
Seiji Aoyagi ◽  
◽  
Masato Suzuki ◽  
Tomokazu Takahashi ◽  
Jun Fujioka ◽  
...  
Keyword(s):  
Genetic Algorithm ◽  
Neural Networks ◽  
Tracking System ◽  
Kinematic Model ◽  
Three Dimensional ◽  
Geometric Parameters ◽  
Geometric Errors ◽  
Robot Arm ◽  
Positioning Accuracy ◽  
Laser Tracking

Offline teaching based on high positioning accuracy of a robot arm is desired to take the place of manual teaching. In offline teaching, joint angles are calculated using a kinematic model of the robot arm. However, a nominal kinematic model does not consider the errors arising in manufacturing or assembly, not to mention the non-geometric errors arising in gear transmission, arm compliance, etc. Therefore, a method of precisely calibrating the parameters in a kinematic model is required. For this purpose, it is necessary to measure the three-dimensional (3-D) absolute position of the tip of a robot arm. In this paper, a laser tracking system is employed as the measurement apparatus. The geometric parameters in the robot kinematic model are calibrated by minimizing errors between the measured positions and the predicted ones based on the model. The residual errors caused by non-geometric parameters are further reduced by using neural networks, realizing high positioning accuracy of sub-millimeter order. To speed up the calibration process, a smaller number of measuring points is preferable. Optimal measuring points, which realize high positioning accuracy while remaining small in number, are selected using Genetic Algorithm (GA).

Pointing Accuracy Analysis of Space Object Laser Tracking System at Geochang Observatory

2021 ◽  
Vol 49 (11) ◽  
pp. 953-960
Author(s):  
Ki-Pyoung Sung ◽  
Hyung-Chul Lim ◽  
Jong-Uk Park ◽  
Man-Soo Choi ◽  
Sung-Yeol Yu ◽  
...  
Keyword(s):  
Tracking System ◽  
Accuracy Analysis ◽  
Space Object ◽  
Laser Tracking ◽  
Pointing Accuracy

Linearity of quadrant avalanche photodiode in laser tracking system

2009 ◽  
Vol 7 (8) ◽  
pp. 728-731 ◽  
Author(s):  
张雷洪 Leihong Zhang ◽  
杨艳 Yan Yang ◽  
夏文兵 Wenbing Xia ◽  
朱小磊 Xiaolei Zhu ◽  
陈卫标 Weibiao Chen ◽  
...  
Keyword(s):  
Tracking System ◽  
Avalanche Photodiode ◽  
Laser Tracking

Design of High Accuracy Robot Welding Machine for a Cone Bottom

2014 ◽  
Vol 496-500 ◽  
pp. 1289-1292
Author(s):  
De Huan Tang ◽  
De Yang Luo
Keyword(s):  
Real Time ◽  
Tracking System ◽  
High Accuracy ◽  
Welding Robot ◽  
Robotic Welding ◽  
High Quality ◽  
The Real ◽  
Laser Tracking ◽  
Welding Machine

This paper designed a special welding machine for an aluminum cone bottom workpiece. This machine contains highly accurate positioner system, laser tracking system, and robotic welding devices. It is used to weld the transverse seams and the longitudinal seams of the workpiece. The interaction of welding robot with positioner and the real-time seam correcting can ensure high quality of welding.

Application of laser tracking system in automatic MIG/MAG welding control

2013 ◽  
Vol 13 (09) ◽  
Author(s):  
Mikhail Shvarc ◽  
Alexey Maloletkov ◽  
Roman Perkovskii
Keyword(s):  
Tracking System ◽  
Mag Welding ◽  
Laser Tracking
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