scholarly journals Test of Robot Distance Error and Compensation of Kinematic Full Parameters

2014 ◽  
Vol 6 ◽  
pp. 810684 ◽  
Author(s):  
Tie Zhang ◽  
Liang Du ◽  
Xiaoliang Dai
Keyword(s):  
Kinematic Parameter ◽  
Error Model ◽  
Kinematic Parameters ◽  
Positioning Accuracy ◽  
Error Matrix ◽  
Modified Model ◽  
Distance Error ◽  
Proposed Model ◽  
Kinematic Error Model ◽  
The Relationship

In order to improve the positioning accuracy of robots in the workspace, the maximum cube of robots is solved according to ISO 9283:1998 standard. In addition, in order to efficiently test and identify the kinematic parameters of robots, a mapping from robot's distance error onto kinematic parameter errors is presented based on Hayati's modified D-H model. Then, by analyzing the condition number of distance error matrix, it is concluded that parameter d i can be deleted when parameter β i is added in the joint of the modified model. Furthermore, by analyzing the relationship among the parameters of the distance error model, it is found that the deletion of some unidentified kinematic parameters may not result in the accuracy decrease of kinematic error model. Finally, some compensation experiments of the proposed model without unidentified kinematic parameters are carried out by using a laser tracker system. The results show that the proposed method effectively reduces the distance error and greatly improves the positioning accuracy of robots.

A Comprehensive Numerical Study on the Number of Identifiable Kinematic Parameters of Parallel Mechanisms

2021 ◽  
Author(s):  
Lingyu Kong ◽  
Genliang Chen ◽  
Guanyu Huang ◽  
Sumian Song ◽  
Anhuan Xie ◽  
...  
Keyword(s):  
Numerical Study ◽  
Error Model ◽  
Error Modeling ◽  
Kinematic Error ◽  
Kinematic Calibration ◽  
Parallel Mechanisms ◽  
Kinematic Parameters ◽  
Positioning Accuracy ◽  
Prismatic Joints ◽  
Kinematic Error Model

Abstract Kinematic error model plays an important role in improving the positioning accuracy of robot manipulators by kinematic calibration. The identifiability of kinematic parameters in the error model directly affects the positioning accuracy of the mechanism. And the number of identifiable kinematic parameters determines how many parameters can be accurately identified by kinematic calibration, which is one of the theoretical basis of kinematic error modeling. For serial mechanisms, a consensus has been reached that the maximum number of identifiable kinematic parameters is 4R + 2P + 6, where R and P represent the numbers of revolute and prismatic joints, respectively. Due to complex topologies of parallel mechanisms, there is still no agreement on the formula of the maximum number of identifiable parameters. In this paper, a comprehensive numerical study on the number of identifiable kinematic parameters of parallel mechanisms is conducted. The number of identifiable parameters of 3802 kinds of limbs with different types or actuation arrangements are analyzed. It can be concluded that the maximum number of identifiable kinematic parameters is Σ i = 1 n 4Ri + 2Pi + 6 − Ci − 2(PP)i/3(PPP1)i/(2Ri + 2Pi)(PPP)i, where Ci represents the number of joints whose motion cannot be measured and n denotes the number of limbs in a parallel mechanism; (PP)i, (PPP1)i, and (PPP)i represent two consecutive unmeasurable P joints, three consecutive P joints in which two of them cannot be measured, and three unmeasurable P joints, respectively.

scholarly journals A Novel Optimal Design of Measurement Configurations in Robot Calibration

2018 ◽  
Vol 2018 ◽  
pp. 1-17 ◽  
Author(s):  
Qingxuan Jia ◽  
Shiwei Wang ◽  
Gang Chen ◽  
Lei Wang ◽  
Hanxu Sun
Keyword(s):  
Optimal Design ◽  
Pose Estimation ◽  
Kinematic Parameter ◽  
Critical Importance ◽  
Kinematic Parameters ◽  
Robot Calibration ◽  
End Effector ◽  
Proposed Model ◽  
Observability Index ◽  
Sample Data

Robot calibration highly depends on redundant measurement configurations to collect enough sample data for higher accuracy, but excessive measurements seem to be uneconomical and time-consuming. Thus lots of observability indexes to evaluate the goodness of the measurement configurations have been proposed. However, in some circumstances, it is of critical importance to obtain accurate kinematic parameters and estimate the end-effector pose precisely at the same time. Obviously one single observability index can hardly meet this need yet. Accordingly, after analyzing the essential constrains of robot calibration and the influence of measurement configurations on the observability indexes, an optimization model with two observability indexes to be taken into consideration is proposed in this paper, and then the existing DETMAX algorithm is modified to seek optimal design of measurement configurations, by adopting a set-constructing method and a set-shrinking method. Much better results have been obtained by simulation study, which implies that the proposed model and the modified DETMAX algorithm perform well in both kinematic parameter identification and pose estimation of the end-effector of the robot.

A Simple Two-step Geometric Approach for the Kinematic Calibration of the 3-PRS Parallel Manipulator

Robotica ◽  
2019 ◽  
Vol 37 (5) ◽  
pp. 837-850
Author(s):  
Genliang Chen ◽  
Lingyu Kong ◽  
Qinchuan Li ◽  
Hao Wang
Keyword(s):  
Parameter Identification ◽  
Parallel Manipulator ◽  
Parallel Manipulators ◽  
Calibration Method ◽  
Kinematic Parameter ◽  
Geometric Constraints ◽  
Kinematic Calibration ◽  
Kinematic Parameters ◽  
Positioning Accuracy ◽  
Kinematic Parameter Identification

SummaryKinematic calibration plays an important role in the improvement of positioning accuracy for parallel manipulators. Based on the specific geometric constraints of limbs, this paper presents a new kinematic parameter identification method for the widely studied 3-PRS parallel manipulator. In the proposed calibration method, the planes where the PRS limbs exactly located are identified firstly as the geometric characteristics of the studied parallel manipulator. Then, the limbs can be considered as planar PR mechanisms whose kinematic parameters can be determined conveniently according to the limb planes identified in the first step. The main merit of the proposed calibration method is that the system error model which relates the manipulator’s kinematic errors to the output ones is not required for kinematic parameter identification. Instead, only two simple geometric problems need to be established for identification, which can be solved readily using gradient-based searching algorithms. Hence, another advantage of the proposed method is that parameter identification of the manipulator’s limbs can be accomplished individually without interactive impact on each other. In order to validate the effectiveness and efficiency of the proposed method, calibration experiments are conducted on an apparatus of the studied 3-PRS parallel manipulator. The results show that using the proposed two-step calibration method, the kinematic parameters can be identified quickly by means of gradient searching algorithm (converge within five iterations for both steps). The positioning accuracy of the studied 3-PRS parallel manipulator has been significantly improved by compensation according to the identified parameters. The mean position and orientation errors at the validation configurations have been reduced to 1.56 × 10−4 m and 1.13 × 10−3 rad, respectively. Further, the proposed two-step kinematic calibration method can be extended to other limited-degree-of-freedom parallel manipulators, if proper geometric constraints can be characterized for their kinematic limbs.

scholarly journals Capacity Prediction Model Based on Limited Priority Gap-Acceptance Theory at Multilane Roundabouts

2014 ◽  
Vol 2014 ◽  
pp. 1-11 ◽  
Author(s):  
Zhaowei Qu ◽  
Yuzhou Duan ◽  
Xianmin Song ◽  
Hongyu Hu ◽  
Huanfeng Liu ◽  
...  
Keyword(s):  
Likelihood Estimation ◽  
Gap Acceptance ◽  
Modified Model ◽  
Field Surveys ◽  
Critical Gap ◽  
Proposed Model ◽  
Acceptance Model ◽  
The Relationship ◽  
Gap Acceptance Theory ◽  
Important Design

Capacity is an important design parameter for roundabouts, and it is the premise of computing their delay and queue. Roundabout capacity has been studied for decades, and empirical regression model and gap-acceptance model are the two main methods to predict it. Based on gap-acceptance theory, by considering the effect of limited priority, especially the relationship between limited priority factor and critical gap, a modified model was built to predict the roundabout capacity. We then compare the results between Raff’s method and maximum likelihood estimation (MLE) method, and the MLE method was used to predict the critical gaps. Finally, the predicted capacities from different models were compared, with the observed capacity by field surveys, which verifies the performance of the proposed model.

On a Relationship Between the Physical Features of Robotic Manipulators and the Kinematic Parameters Produced by Numerical Calibration

1993 ◽  
Vol 115 (4) ◽  
pp. 892-900 ◽  
Author(s):  
A. Goswami ◽  
J. R. Bosnik
Keyword(s):  
Parameter Estimation ◽  
Optimal Parameter ◽  
Kinematic Model ◽  
Robotic Manipulators ◽  
Kinematic Parameter ◽  
Physical Feature ◽  
Multiple Site ◽  
Kinematic Parameters ◽  
Physical Features ◽  
The Relationship

Although kinematic parameter estimation is well-established as a technique for improving the positioning accuracy of a robotic manipulator, little attention has been given to the relationship between the parameters of a kinematic model and the corresponding physical features of a manipulator. If each kinematic parameter of a robot corresponds to one and only one of its independent physical features, then a change in the value of an optimal parameter would reflect a change in the corresponding physical feature. This knowledge is of potential value in isolating the sources of wear and damage in a manipulator, and, more generally, in predictive maintenance. In this work, the choice of kinematic model is shown to have a strong effect on the physical feature/kinematic parameter relationship. The most suitable kinematic model for preserving this relationship includes redundant parameters, which may interact numerically among themselves during the parameter estimation process and may complicate the interpretation of results. On the other hand, a kinematic model with no redundant parameters contains too few parameters to establish a comprehensive physical features/kinematic parameters relationship. Multiple-site pose measurement has been explored as a method of preserving the desired relationship even in the presence of redundant parameters.

The Influence of Cognitive and Affective Reactions to Feedback on Subsequent Goals

2010 ◽  
Vol 15 (2) ◽  
pp. 121-131 ◽  
Author(s):  
Remus Ilies ◽  
Timothy A. Judge ◽  
David T. Wagner
Keyword(s):  
Performance Feedback ◽  
Business School ◽  
Structural Equation ◽  
Emotional Reactions ◽  
Equation Model ◽  
Proposed Model ◽  
And Performance ◽  
Dispositional Measure ◽  
The Relationship ◽  
Reactions To Feedback

This paper focuses on explaining how individuals set goals on multiple performance episodes, in the context of performance feedback comparing their performance on each episode with their respective goal. The proposed model was tested through a longitudinal study of 493 university students’ actual goals and performance on business school exams. Results of a structural equation model supported the proposed conceptual model in which self-efficacy and emotional reactions to feedback mediate the relationship between feedback and subsequent goals. In addition, as expected, participants’ standing on a dispositional measure of behavioral inhibition influenced the strength of their emotional reactions to negative feedback.

A new underwater positioning model based on average sound speed

2021 ◽  
pp. 1-17
Author(s):  
Yixu Liu ◽  
Xiushan Lu ◽  
Shuqiang Xue ◽  
Shengli Wang
Keyword(s):  
Efficient Algorithm ◽  
Sound Speed ◽  
Incident Angle ◽  
Function Model ◽  
Positioning Accuracy ◽  
Correction Model ◽  
Model Based ◽  
Underwater Positioning ◽  
Speed Function ◽  
The Relationship

Abstract The layout of seafloor datum points is the key to constructing the seafloor geodetic datum network, and a reliable underwater positioning model is the prerequisite for achieving precise deployment of the datum points. The traditional average sound speed positioning model is generally adopted in underwater positioning due to its simple and efficient algorithm, but it is sensitive to incident angle related errors, which lead to unreliable positioning results. Based on the relationship between incident angle and sound speed, the sound speed function model considering the incident angle has been established. Results show that the accuracy of positioning is easily affected by errors related to the incident angle; the new average sound speed correction model based on the incident angle proposed in this paper is used to significantly improve the underwater positioning accuracy.

scholarly journals Context-Aware Neural Machine Translation for Korean Honorific Expressions

Electronics ◽  
2021 ◽  
Vol 10 (13) ◽  
pp. 1589
Author(s):  
Yongkeun Hwang ◽  
Yanghoon Kim ◽  
Kyomin Jung
Keyword(s):  
Machine Translation ◽  
Deep Neural Networks ◽  
Contextual Information ◽  
Context Aware ◽  
Neural Machine Translation ◽  
Translation Quality ◽  
Sentence Level ◽  
Proposed Model ◽  
The Given ◽  
The Relationship

Neural machine translation (NMT) is one of the text generation tasks which has achieved significant improvement with the rise of deep neural networks. However, language-specific problems such as handling the translation of honorifics received little attention. In this paper, we propose a context-aware NMT to promote translation improvements of Korean honorifics. By exploiting the information such as the relationship between speakers from the surrounding sentences, our proposed model effectively manages the use of honorific expressions. Specifically, we utilize a novel encoder architecture that can represent the contextual information of the given input sentences. Furthermore, a context-aware post-editing (CAPE) technique is adopted to refine a set of inconsistent sentence-level honorific translations. To demonstrate the efficacy of the proposed method, honorific-labeled test data is required. Thus, we also design a heuristic that labels Korean sentences to distinguish between honorific and non-honorific styles. Experimental results show that our proposed method outperforms sentence-level NMT baselines both in overall translation quality and honorific translations.

scholarly journals An Attention-Based Model Using Character Composition of Entities in Chinese Relation Extraction

Information ◽  
2020 ◽  
Vol 11 (2) ◽  
pp. 79 ◽  
Author(s):  
Xiaoyu Han ◽  
Yue Zhang ◽  
Wenkai Zhang ◽  
Tinglei Huang
Keyword(s):  
Language Processing ◽  
Large Scale ◽  
Named Entity Recognition ◽  
Relation Extraction ◽  
Entity Recognition ◽  
Additional Information ◽  
Named Entity ◽  
Proposed Model ◽  
The Relationship ◽  
Crucial Part

Relation extraction is a vital task in natural language processing. It aims to identify the relationship between two specified entities in a sentence. Besides information contained in the sentence, additional information about the entities is verified to be helpful in relation extraction. Additional information such as entity type getting by NER (Named Entity Recognition) and description provided by knowledge base both have their limitations. Nevertheless, there exists another way to provide additional information which can overcome these limitations in Chinese relation extraction. As Chinese characters usually have explicit meanings and can carry more information than English letters. We suggest that characters that constitute the entities can provide additional information which is helpful for the relation extraction task, especially in large scale datasets. This assumption has never been verified before. The main obstacle is the lack of large-scale Chinese relation datasets. In this paper, first, we generate a large scale Chinese relation extraction dataset based on a Chinese encyclopedia. Second, we propose an attention-based model using the characters that compose the entities. The result on the generated dataset shows that these characters can provide useful information for the Chinese relation extraction task. By using this information, the attention mechanism we used can recognize the crucial part of the sentence that can express the relation. The proposed model outperforms other baseline models on our Chinese relation extraction dataset.

Loyalty program in Africa: risk-seeking and risk-averse adventurers

2014 ◽  
Vol 69 (2) ◽  
pp. 137-157 ◽  
Author(s):  
Shogo Mlozi
Keyword(s):  
Consumer Behavior ◽  
Consumer Products ◽  
Loyalty Programs ◽  
Risk Averse ◽  
Loyalty Program ◽  
Content Type ◽  
Risk Seeking ◽  
Proposed Model ◽  
First Time ◽  
The Relationship

Purpose – This article aims to test the relationship between expected attractiveness-satisfaction-loyalty for international adventure tourists visiting Tanzania. The proposed model is based on travel consumer behavior theoretical constructs extracted from the literature. Design/methodology/approach – This article aims to test the relationship between expected attractiveness-satisfaction-loyalty for international adventure tourists visiting Tanzania. The proposed model is based on travel consumer behavior theoretical constructs extracted from the literature. Findings – The findings for overall model differed from the moderating factors of high risk, low risk, first-time visit and repeat visit. Also, the results are interesting when satisfaction is tested as a mediator. Practical implications – Practitioners could consider the fact that repeat visits may change tourists’ perceptions toward destination and may even increase their inclination to take on risks. This may impact innovation of consumer products in tourism. Also, policy makers could benefit on how loyalty programs can be developed to increase performance. Originality/value – The study offers specific strategic recommendations toward different groups of tourists (i.e. first-time, repeat visitors, risk averse, risk seeking) and proposes logic for setting up a loyalty program as a long-term strategy for success.

Sign in / Sign up

Export Citation Format

Share Document