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Improving the Positional Accuracy of Industrial Robots by Forward Kinematic Calibration using Laser Tracker System (2022)
Conference Proceeding
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

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 o... Read More about Improving the Positional Accuracy of Industrial Robots by Forward Kinematic Calibration using Laser Tracker System.

Frequency scanning interferometry for accurate robot position measurement (2022)
Conference Proceeding
Isa, M. A., Khanesar, M. A., Leach, R., Branson, D., & Piano, S. (2022). Frequency scanning interferometry for accurate robot position measurement. In Proceedings of 22nd International Conference & Exhibition

This paper presents a frequency scanning interferometry (FSI) shortwave infrared (IR) setup developed for position and orientation measurement of industrial robots. Within contemporary and future industrial frameworks, robots—in particular collaborat... Read More about Frequency scanning interferometry for accurate robot position measurement.

Robust Sliding Mode Fuzzy Control of Industrial Robots using an Extended Kalman Filter Inverse Kinematic Solver (2022)
Journal Article
Khanesar, M. A., & Branson, D. (2022). Robust Sliding Mode Fuzzy Control of Industrial Robots using an Extended Kalman Filter Inverse Kinematic Solver. Energies, 15(5), Article 1876. https://doi.org/10.3390/en15051876

This paper presents a sliding mode fuzzy control approach for industrial robots at their static and near static speed (linear velocities less than 5 cm/s). The extended Kalman filter with its covariance resetting is used to translate the coordinates... Read More about Robust Sliding Mode Fuzzy Control of Industrial Robots using an Extended Kalman Filter Inverse Kinematic Solver.