New Method and Portable Measurement Device for the Calibration of Industrial Robots
| Autor: | Oleksandr Stepanenko, Ilian A. Bonev, Caglar Icli |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Computer science 02 engineering and technology Kinematics Fixture Coordinate-measuring machine robot calibration lcsh:Chemical technology Biochemistry Article Analytical Chemistry law.invention Industrial robot 020901 industrial engineering & automation law 0202 electrical engineering electronic engineering information engineering medicine self-calibration Computer vision lcsh:TP1-1185 autonomous calibration Electrical and Electronic Engineering Instrumentation business.industry closed-loop calibration Atomic and Molecular Physics and Optics robot accuracy Laser tracker Joint stiffness Robot 020201 artificial intelligence & image processing precision Artificial intelligence medicine.symptom business |
| Zdroj: | Sensors, Vol 20, Iss 5919, p 5919 (2020) Sensors Volume 20 Issue 20 Sensors (Basel, Switzerland) |
| ISSN: | 1424-8220 |
| Popis: | This paper presents an automated calibration method for industrial robots, based on the use of (1) a novel, low-cost, wireless, 3D measuring device mounted on the robot end-effector and (2) a portable 3D ball artifact fixed with respect to the robot base. The new device, called TriCal, is essentially a fixture holding three digital indicators (plunger style), the axes of which are orthogonal and intersect at one point, considered to be the robot tool center point (TCP). The artifact contains four 1-inch datum balls, each mounted on a stem, with precisely known relative positions measured on a Coordinate Measuring Machine (CMM). The measurement procedure with the TriCal is fully automated and consists of the robot moving its end-effector in such as a way as to perfectly align its TCP with the center of each of the four datum balls, with multiple end-effector orientations. The calibration method and hardware were tested on a six-axis industrial robot (KUKA KR6 R700 sixx). The calibration model included all kinematic and joint stiffness parameters, which were identified using the least-squares method. The efficiency of the new calibration system was validated by measuring the accuracy of the robot after calibration in 500 nearly random end-effector poses using a laser tracker. The same validation was performed after the robot was calibrated using measurements from the laser tracker only. Results show that both measurement methods lead to similar accuracy improvements, with the TriCal yielding maximum position errors of 0.624 mm and mean position errors of 0.326 mm. |
| Databáze: | OpenAIRE |
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