Absolute kinematic calibration of six-axis serial industrial robots using relative measurements

使用相对测量对六轴串行工业机器人进行绝对运动校准

基本信息

  • 批准号:
    451559-2013
  • 负责人:
  • 金额:
    $ 1.82万
  • 依托单位:
  • 依托单位国家:
    加拿大
  • 项目类别:
    Engage Grants Program
  • 财政年份:
    2013
  • 资助国家:
    加拿大
  • 起止时间:
    2013-01-01 至 2014-12-31
  • 项目状态:
    已结题

项目摘要

The inherent lack of positioning accuracy in standard, un-calibrated industrial robots is a limiting factor for their use in the automation of manufacturing processes, such as those at Enclosures Direct Inc. (EDI). Robots utilized for manufacturing are generally designed to have excellent repeatability (ability to continually reach the same position and orientation, or pose, defined by a set of joint angles stored in the controller) but are lacking in accuracy (moving to a pose for which the joint angles must be computed by the controller). To overcome the accuracy shortcomings the robots are typically used in a "record and play" mode where poses are manually taught by a technician and repeated for long production runs. When dealing with shorter production runs of customized products, as is the case at EDI where over 3000 different products are offered, it is not viable to manually teach all of the required poses which are instead calculated based on part dimensions or a CAD model. This approach requires the robots to be calibrated in order to meet accuracy requirements. Existing kinematic calibration methods require accurate and precise knowledge of the absolute pose of the robot end effector with respect to the robot base. Achieving this requires an elaborate and expensive measurement system and often requires moving the robot offsite to a calibrated measurement cell. This research project will use recent advances in joint mastering to identify the errors in the six joint angles using relative measurements of tool point position using a novel combination of position sensitive devices and a linear encoder. Once the joint zero values have been identified, the encoder measurements will be used to identify the remaining parameter errors. Observations that the joint angle error is generally larger than the error in the remaining parameters has led to the development of a measurement system that will allow for the separation of the joint angle calibration from the remaining parameters while employing the same experimental data set. The goal of the proposed project is to develop a complete and general system for the kinematic calibration of serial industrial robots.
标准的、未校准的工业机器人固有的定位精度的缺乏是它们在制造过程自动化中使用的限制因素,例如在Enclosures Direct Inc.(EDI)。用于制造的机器人通常被设计成具有优异的可重复性(连续达到由存储在控制器中的一组关节角度定义的相同位置和取向或姿态的能力),但缺乏准确性(移动到关节角度必须由控制器计算的姿态)。 为了克服准确性的缺点,机器人通常以“记录和播放”模式使用,其中姿势由技术人员手动教授并在长时间的生产运行中重复。当处理定制产品的较短生产运行时,如EDI提供超过3000种不同产品的情况,手动示教所有所需的姿势是不可行的,而是基于零件尺寸或CAD模型计算。 这种方法需要校准机器人,以满足精度要求。 现有的运动学校准方法需要准确和精确的知识的绝对姿态的机器人末端执行器相对于机器人的基础。 实现这一点需要一个复杂而昂贵的测量系统,并且通常需要将机器人移动到场外的校准测量单元。本研究项目将利用关节控制的最新进展,使用位置敏感器件和线性编码器的新型组合,通过工具点位置的相对测量来识别六个关节角度的误差。一旦已经识别出联合零值,编码器测量将用于识别剩余的参数误差。 关节角度误差通常大于其余参数中的误差的观察结果已经导致了测量系统的开发,该测量系统将允许在采用相同的实验数据集的同时将关节角度校准与其余参数分离。该项目的目标是开发一个完整的通用系统,用于串行工业机器人的运动学校准。

项目成果

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Hayes, John其他文献

Association of Hypo- and Hyperkalemia with Disease Progression and Mortality in Males with Chronic Kidney Disease: The Role of Race
  • DOI:
    10.1159/000329511
  • 发表时间:
    2012-01-01
  • 期刊:
  • 影响因子:
    0
  • 作者:
    Hayes, John;Kalantar-Zadeh, Kamyar;Kovesdy, Csaba P.
  • 通讯作者:
    Kovesdy, Csaba P.
Obesity-induced neuroinflammation and cognitive impairment in young adult versus middle-aged mice.
  • DOI:
    10.1186/s12979-022-00323-7
  • 发表时间:
    2022-12-22
  • 期刊:
  • 影响因子:
    7.9
  • 作者:
    Henn, Rosemary E.;Elzinga, Sarah E.;Glass, Emily;Parent, Rachel;Guo, Kai;Allouch, Adam A.;Mendelson, Faye E.;Hayes, John;Webber-Davis, Ian;Murphy, Geoffery G.;Hur, Junguk;Feldman, Eva L.
  • 通讯作者:
    Feldman, Eva L.
Visual symptomatology and referral patterns for Operation Iraqi Freedom and Operation Enduring Freedom veterans with traumatic brain injury
Association Between Physician Time-Unlimited vs Time-Limited Internal Medicine Board Certification and Ambulatory Patient Care Quality
Assessment of diabetic teleretinal imaging program at the Portland Department of Veterans Affairs Medical Center

Hayes, John的其他文献

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{{ truncateString('Hayes, John', 18)}}的其他基金

Continuous Approximate Synthesis of Planar and Spatial Mechanisms
平面和空间机构的连续近似综合
  • 批准号:
    RGPIN-2017-06327
  • 财政年份:
    2020
  • 资助金额:
    $ 1.82万
  • 项目类别:
    Discovery Grants Program - Individual
Kinematics, dynamics, and control of atlas motion platform
Atlas运动平台的运动学、动力学和控制
  • 批准号:
    250012-2011
  • 财政年份:
    2015
  • 资助金额:
    $ 1.82万
  • 项目类别:
    Discovery Grants Program - Individual
Investigation of the Spin-Crossover Phenomenon in Crystalline Solids Using X-ray Absorption Spectroscopy
使用 X 射线吸收光谱研究晶体固体中的自旋交叉现象
  • 批准号:
    425160-2012
  • 财政年份:
    2014
  • 资助金额:
    $ 1.82万
  • 项目类别:
    Alexander Graham Bell Canada Graduate Scholarships - Doctoral
Kinematics, dynamics, and control of atlas motion platform
Atlas运动平台的运动学、动力学和控制
  • 批准号:
    250012-2011
  • 财政年份:
    2014
  • 资助金额:
    $ 1.82万
  • 项目类别:
    Discovery Grants Program - Individual
Kinematics, dynamics, and control of atlas motion platform
Atlas运动平台的运动学、动力学和控制
  • 批准号:
    250012-2011
  • 财政年份:
    2013
  • 资助金额:
    $ 1.82万
  • 项目类别:
    Discovery Grants Program - Individual
Investigation of the Spin-Crossover Phenomenon in Crystalline Solids Using X-ray Absorption Spectroscopy
使用 X 射线吸收光谱研究晶体固体中的自旋交叉现象
  • 批准号:
    425160-2012
  • 财政年份:
    2013
  • 资助金额:
    $ 1.82万
  • 项目类别:
    Alexander Graham Bell Canada Graduate Scholarships - Doctoral
Investigation of the Spin-Crossover Phenomenon in Crystalline Solids Using X-ray Absorption Spectroscopy
使用 X 射线吸收光谱研究晶体固体中的自旋交叉现象
  • 批准号:
    425160-2012
  • 财政年份:
    2012
  • 资助金额:
    $ 1.82万
  • 项目类别:
    Alexander Graham Bell Canada Graduate Scholarships - Doctoral
Kinematics, dynamics, and control of atlas motion platform
Atlas运动平台的运动学、动力学和控制
  • 批准号:
    250012-2011
  • 财政年份:
    2012
  • 资助金额:
    $ 1.82万
  • 项目类别:
    Discovery Grants Program - Individual
Kinematics, dynamics, and control of atlas motion platform
Atlas运动平台的运动学、动力学和控制
  • 批准号:
    250012-2011
  • 财政年份:
    2011
  • 资助金额:
    $ 1.82万
  • 项目类别:
    Discovery Grants Program - Individual
X-Ray absorption spectroscopic investigations of bonding in LnFeO3 (Ln=La-Lu)
LnFeO3 (Ln=La-Lu) 中键合的 X 射线吸收光谱研究
  • 批准号:
    409352-2011
  • 财政年份:
    2011
  • 资助金额:
    $ 1.82万
  • 项目类别:
    Alexander Graham Bell Canada Graduate Scholarships - Master's

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