Hostname: page-component-cd9895bd7-dk4vv Total loading time: 0 Render date: 2024-12-24T01:50:26.480Z Has data issue: false hasContentIssue false
  • English
  • Français

An improved kinematic model for calibration of serial robots having closed-chain mechanisms

Published online by Cambridge University Press:  17 November 2011

Minh To  and
Phil Webb
Minh To*
Affiliation:
School of Engineering, Cranfield University, Cranfield, Bedfordshire, UK
Phil Webb
Affiliation:
School of Engineering, Cranfield University, Cranfield, Bedfordshire, UK
*
*Corresponding author. Email: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

Many industrial robots employ closed-loop actuating elements such as the parallelogram mechanism for increased stiffness. Modeling these manipulators for the purpose of calibration presents a challenge due to complex nonlinear couplings between parameters of the chains. The modeling method presented in this paper involves the integration of the open- and closed-loop elements whose errors can be resolved as linear functions of their parameters. As a result, the model is similar to that of a serial-link robot, which makes it possible to use existing well-defined calibration techniques in the area. Simulation and experimental studies on an industrial robot for verifying the correctness and effectiveness of the proposed model are also described.

Keywords

Kinematic identificationClosed-chain mechanismParallelogram structure
Type
Articles
Information
Robotica , Volume 30 , Issue 6 , October 2012 , pp. 963 - 971
Copyright
Copyright © Cambridge University Press 2011

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Bernhardt, R. and Albright, S. L., Robot Calibration (Chapman & Hall, London, UK, 1993).Google Scholar
2.Karan, B. and Vukobratovic, M., “Calibration and accuracy of manipulation robot models - An overview,” Mech. Mach. Theory 29 (3), 479–500 (1994).CrossRefGoogle Scholar
3.Khalil, W., Modelling, Identification and Control of Robot (Taylor & Francis, New York, 2002) pp. 257–290.CrossRefGoogle Scholar
4.Khalil, W., Bernard, S. and Lemoine, P., “Comparison study of the geometric parameter calibration methods,” Int. J. Robot. Autom. 15 (2), 56–67 (2000).Google Scholar
5.Hollerbach, J., Khalil, W. and Gautier, M., Handbook of Robotics (Springer, London, UK, 2007) pp. 321–344.Google Scholar
6.Schröer, K., Albright, S. and Grethlein, M., “Complete, minimal and model-continuous kinematic models for robot calibration,” Robot. Comput. Integr. Manuf. 13 (1), 73–85 (1997).CrossRefGoogle Scholar
7.Schröer, K., Albright, S. and Lisoukin, A., “Modeling closed-loop mechanisms in robots for purposes of calibration,” IEEE J. Robot. Autom. 13 (2), 218–229 (1997).CrossRefGoogle Scholar
8.Marie, S. and Maurine, P., “Elasto-Geometrical Modelling of Closed-Loop Industrial Robots Used For Machining Applications” IEEE International Conference on Robotics and Automation, Pasadena, CA, USA (May 19–23, 2008) pp. 1294–1300.Google Scholar
9.Alici, G. and Shirinzadeh, B., “A systematic technique to estimate positioning errors for robot accuracy improvement using laser interferometry based sensing,” Mech. Mach. Theory 40, 879–906 (2005).CrossRefGoogle Scholar
10.Ananthananyanan, S. P., Szymczyk, C. and Goldenberg, A., “Identification of Kinematic Parameters of Multiple Closed Chain Robotic Manipulators Working in Coordination,” IEEE International Conference on Robotics and Automation, Nice, France (1992) pp. 358–363.Google Scholar
11.Siciliano, B., Sciavicco, L. and Villani, L., Robotics Modelling, Planning and Control (Springer, Berlin, 2009) pp. 70–72.Google Scholar
12.Bennett, D. J. and Hollerbach, J., “Autonomous calibration of single-loop closed kinematic chains formed by manipulators with passive endpoint constraints,” IEEE J. Robot. Autom. 11 (5), 597–606 (1995).Google Scholar
13.Veitsschegger, W. K. and Wu, C. H., “Robot calibration and compensation,” IEEE J. Robot. Autom. 4 (6), 643–656 (1988).CrossRefGoogle Scholar
14.Driels, M. R. and Pathre, U. S., “Simulation experiments on parameter identification for robot calibration,” J. Adv. Manag. Tech. 5, 13–33 (1990).Google Scholar
15.Judd, R. P. and Knasinski, A. B., “Technique to calibrate industrial robots with experimental verification,” IEEE J. Robot. Autom. 6 (1), 20–30 (1990).CrossRefGoogle Scholar
16.Integration Engineering Lab. at University of California, “Four Bar Linkage” http://iel.ucdavis.edu/chhtml/toolkit/mechanism/fourbar/fourbarpos.html, visited on 12/10/2011.Google Scholar
17.Mooring, B. W. and Tang, G. R., “An improved method for identifying the kinematic parameters in a six axis robot,” Proc. Int. Comput. Eng. Conf. Exhibit., 1, 79–84 (1984).Google Scholar
18.Hayati, S. and Mirmirani, M., “Improving the absolute positioning accuracy of robot manipulators,” J. Robot. Syst., 2 (4), 397–413 (1985).CrossRefGoogle Scholar
19.Hsu, T. W. and Everett, J. L., “Identification of the Kinematic Parameters of a Robot Manipulator for Positional Accuracy Improvement,” In: Proceedings of the International Computers in Engineering Conference and Exhibition, Boston, MA, USA (Aug. 4–8, 1985) pp. 263–267.Google Scholar
20.Veitschegger, W. and Wu, C., “A Method for Calibrating and Compensating Robot Kinematic Errors,” In: IEEE International Conference on Robotics and Automation, Raleigh, NC, USA, (1987) pp. 39–44.Google Scholar
21.Driels, M. R. and Pathre, U. S., “Generalized joint model for robot manipulator calibration and compensation,” J. Robot. Syst. 4 (1), 77–114 (1987).CrossRefGoogle Scholar
22.Stone, H. W. and Sanderson, A. C., “A Prototype Arm Signature Identification System,” In: Proceedings of IEEE International Conference on Robotics and Automation, (1987) pp. 175–182.Google Scholar
23.Zhuang, H., Wang, K. and Roth, Z. S., “Error-model-based robot calibration using a modified CPC model,” Int. J. Robot. Comput. Integr. Manuf. 10 (4), 287–299 (1993).CrossRefGoogle Scholar
24.Meggiolaro, M. A., “An Analytical Method to Eliminate the Redundant Parameters in Robot Calibration,” In: Proceedings of ICRA, San Francisco, CA, USA (Apr. 2000) pp. 3609–3615.Google Scholar