Skip to main content

Research Repository

Advanced Search

Improving the Positional Accuracy of Industrial Robots by Forward Kinematic Calibration using Laser Tracker System

Khanesar, Mojtaba A.; Piano, Samanta; Branson, David

Improving the Positional Accuracy of Industrial Robots by Forward Kinematic Calibration using Laser Tracker System Thumbnail


Authors

Profile Image

DAVID BRANSON DAVID.BRANSON@NOTTINGHAM.AC.UK
Professor of Dynamics and Control



Abstract

Precision object handling and manipulation require precise positioning of industrial robots. The common practice to perform end effector positioning is to use joint angle readings and industrial robot forward kinematics. However, forward kinematics of the robot rely on its DH parameter values which include uncertainties. Sources of uncertainty associated with robot forward kinematics include mechanical wear, manufacturing, assembly tolerances, and robot dimensional measurement errors. It is therefore highly required to increase the precision of DH parameter values. In this paper, we use heuristic optimization approaches to perform industrial robot DH parameter calibration. To perform this task, a highly accurate laser tracker system, Leica AT960-MR is utilized. The precision of this non-contact metrology device is less than 3μm/m and therefore it can be easily used to calibrate industrial robots with precision of 0.1mm. Heuristic optimization approaches such as genetic algorithm, particle swarm optimization, and differential evolution are used to perform the calibration using laser tracker position data as their target values. It is observed that using the proposed approach, the accuracy of industrial robot FKs in terms of mean absolute errors of static and near-static motion over all three position dimensions decreases from its measured value 66.5μm to 51.6μm (more than 22.4% improvement).

Citation

Khanesar, M. A., Piano, S., & Branson, D. (2022). Improving the Positional Accuracy of Industrial Robots by Forward Kinematic Calibration using Laser Tracker System. In Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2022) (263-270). https://doi.org/10.5220/0011340200003271

Conference Name 19th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2022)
Conference Location Lisbon, Portugal
Start Date Jul 14, 2022
End Date Jul 16, 2022
Acceptance Date Jun 1, 2022
Online Publication Date Jul 16, 2022
Publication Date Jul 16, 2022
Deposit Date Jul 20, 2022
Publicly Available Date Mar 29, 2024
Publisher SCITEPRESS - Science and Technology Publications
Pages 263-270
Series Title International Conference on Informatics in Control, Automation and Robotics (ICINCO)
Series ISSN 2184-2809
Book Title Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2022)
ISBN 9789897585852
DOI https://doi.org/10.5220/0011340200003271
Keywords Positional Accuracy; Forward Kinematic Calibration; Laser Tracker System; Multi-output Least Squares; Support Vector Regression
Public URL https://nottingham-repository.worktribe.com/output/9088752
Related Public URLs https://icinco.scitevents.org/

Files




You might also like



Downloadable Citations