With the continuous improvement of automation,industrial robots have become an indispensable part of automated production lines.They widely used in a number of industrial production activities,such as spraying,welding...With the continuous improvement of automation,industrial robots have become an indispensable part of automated production lines.They widely used in a number of industrial production activities,such as spraying,welding,handling,etc.,and have a great role in these sectors.Recently,the robotic technology is developing towards high precision,high intelligence.Robot calibration technology has a great significance to improve the accuracy of robot.However,it has much work to be done in the identification of robot parameters.The parameter identification work of existing serial and parallel robots is introduced.On the one hand,it summarizes the methods for parameter calibration and discusses their advantages and disadvantages.On the other hand,the application of parameter identification is introduced.This overview has a great reference value for robot manufacturers to choose proper identification method,points further research areas for researchers.Finally,this paper analyzes the existing problems in robot calibration,which may be worth researching in the future.展开更多
Industrial robots,as the fundamental component for intelligent manufacturing,have attracted considerable attention from both academia and industry.Since its absolute positioning accuracy can suffer from collision,wear...Industrial robots,as the fundamental component for intelligent manufacturing,have attracted considerable attention from both academia and industry.Since its absolute positioning accuracy can suffer from collision,wear,elastic,or inelastic deformation during its operation,a data-driven calibration(DDC)model has become a trending technique.It utilizes abundant data to decrease the difficulty in building complex system models,making it an economic and efficient approach to robot calibration.This paper conducts a comprehensive survey of the state-of-the-art DDC models with the following six-fold efforts:a)Summarizing the DDC modeling methods;b)Categorizing the latest progress of DDC optimization algorithms;c)Investigating the publicly available datasets and several typical metrics;d)Evaluating several widely adopted DDC models to demonstrate their calibration performance;e)Introducing the applications of the current DDC models;f)Discussing the progressing trend of DDC models.This paper strives to present a systematic and thorough overview of the existing DDC models from modeling to kinematic parameter optimization,thereby providing some guidance for research in this field.展开更多
A novel in-contact three-dimensional(3D)measuring device,called MultiCal,is proposed as a convenient,low-cost(less than US$5000),and robust facility for onsite kinematic calibration and online measurement of robot man...A novel in-contact three-dimensional(3D)measuring device,called MultiCal,is proposed as a convenient,low-cost(less than US$5000),and robust facility for onsite kinematic calibration and online measurement of robot manipulator accuracy.The device hasμm-level accuracy and can be easily embedded in robot cells.During the calibration procedure,the robot manipulator first moves automatically to multiple end-effector orientations with its tool center point(TCP)constrained on a fixed point by a 3D displacement measuring device(single point constraint),and the corresponding joint angles are recorded.Then,the measuring device is precisely mounted at different positions using a well-designed fixture,and the above measurement process is repeated to implement a multi-point constraint.The relative mounting positions are accurately measured and used as prior information to improve calibration accuracy and robustness.The results of theoretical analysis indicate that MultiCal reduces calibration accuracy by 10%to 20%in contrast to traditional non-contact 3D or six-dimensional(6D)measuring devices(such as laser trackers)when subject to the same level of artificial measurement noise.The results of a calibration experiment conducted on a Staubli TX90 robot show that MultiCal has only 7%to 14%lower calibration accuracy compared to a measuring arm with a laser scanner,and 21%to 30%lower time efficiency compared to a 6D binocular vision measuring system,yielding maximum and mean absolute position errors of 0.831 mm and 0.339 mm,respectively.展开更多
基金supported in part by the National Natural Science Foundation of China(61772493)in part by the Guangdong Province Universities and College Pearl River Scholar Funded Scheme(2019)in part by the Natural Science Foundation of Chongqing(cstc2019jcyjjq X0013)。
文摘With the continuous improvement of automation,industrial robots have become an indispensable part of automated production lines.They widely used in a number of industrial production activities,such as spraying,welding,handling,etc.,and have a great role in these sectors.Recently,the robotic technology is developing towards high precision,high intelligence.Robot calibration technology has a great significance to improve the accuracy of robot.However,it has much work to be done in the identification of robot parameters.The parameter identification work of existing serial and parallel robots is introduced.On the one hand,it summarizes the methods for parameter calibration and discusses their advantages and disadvantages.On the other hand,the application of parameter identification is introduced.This overview has a great reference value for robot manufacturers to choose proper identification method,points further research areas for researchers.Finally,this paper analyzes the existing problems in robot calibration,which may be worth researching in the future.
基金supported in part by the National Key Research and Development Program of China(2024YFF0908200)the National Natural Science Foundation of China(62372385,62272078,62002337)the Chongqing Natural Science Foundation(CSTB2022 NSCQ-MSX1486,CSTB2023NSCQ-LZX0069).
文摘Industrial robots,as the fundamental component for intelligent manufacturing,have attracted considerable attention from both academia and industry.Since its absolute positioning accuracy can suffer from collision,wear,elastic,or inelastic deformation during its operation,a data-driven calibration(DDC)model has become a trending technique.It utilizes abundant data to decrease the difficulty in building complex system models,making it an economic and efficient approach to robot calibration.This paper conducts a comprehensive survey of the state-of-the-art DDC models with the following six-fold efforts:a)Summarizing the DDC modeling methods;b)Categorizing the latest progress of DDC optimization algorithms;c)Investigating the publicly available datasets and several typical metrics;d)Evaluating several widely adopted DDC models to demonstrate their calibration performance;e)Introducing the applications of the current DDC models;f)Discussing the progressing trend of DDC models.This paper strives to present a systematic and thorough overview of the existing DDC models from modeling to kinematic parameter optimization,thereby providing some guidance for research in this field.
基金Project supported by the Key R&D Program of Zhejiang Province,China(No.2022C04030)the National Key R&D Program of China(Nos.2020YFB1313300 and 2018AAA0102703)the National Natural Science Foundation of China(No.61836015)。
文摘A novel in-contact three-dimensional(3D)measuring device,called MultiCal,is proposed as a convenient,low-cost(less than US$5000),and robust facility for onsite kinematic calibration and online measurement of robot manipulator accuracy.The device hasμm-level accuracy and can be easily embedded in robot cells.During the calibration procedure,the robot manipulator first moves automatically to multiple end-effector orientations with its tool center point(TCP)constrained on a fixed point by a 3D displacement measuring device(single point constraint),and the corresponding joint angles are recorded.Then,the measuring device is precisely mounted at different positions using a well-designed fixture,and the above measurement process is repeated to implement a multi-point constraint.The relative mounting positions are accurately measured and used as prior information to improve calibration accuracy and robustness.The results of theoretical analysis indicate that MultiCal reduces calibration accuracy by 10%to 20%in contrast to traditional non-contact 3D or six-dimensional(6D)measuring devices(such as laser trackers)when subject to the same level of artificial measurement noise.The results of a calibration experiment conducted on a Staubli TX90 robot show that MultiCal has only 7%to 14%lower calibration accuracy compared to a measuring arm with a laser scanner,and 21%to 30%lower time efficiency compared to a 6D binocular vision measuring system,yielding maximum and mean absolute position errors of 0.831 mm and 0.339 mm,respectively.
