The Experts below are selected from a list of 234 Experts worldwide ranked by ideXlab platform
Thomas A Fuhlbrigge - One of the best experts on this subject based on the ideXlab platform.
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an automated method to calibrate industrial robot joint offset using virtual line based single Point Constraint approach
Intelligent Robots and Systems, 2009Co-Authors: Yong Liu, George Zhang, Heping Chen, Chi Zhang, Michael J Jeffery, Thomas A FuhlbriggeAbstract:This paper describes an industrial robot joint offset calibration method called the virtual line-based single-Point Constraint approach. Previous methods such as using CMM, laser trackers or cameras are limited by the cost or the resolution. The proposed method relies mainly upon a laser Pointer attached on the end-effector and single position-sensitive detector (PSD) arbitrarily located on the workcell. The automated calibration procedure (about three minutes) involves aiming the laser lines loaded by the robot towards the center of the PSD surface from various robot positions and orientations. The intersections of each pair of laser lines eventually should converge to the same Point after compensating the joint offsets. An optimization model and algorithm have been formulated to identify the robot offset. For the highly precise feedback, a segmented PSD with a position resolution of better than 0.1 µm is employed. The mean accuracy of robot localization is up to 0.02 mm, and the mean error of the parameter identification is less than 0.08 degrees. Both simulations and experiments implemented on an ABB industrial robot verify the feasibility of the proposed method and demonstrated the effectiveness of the developed calibration system. The goal of fast, automated, low-cost, and high precision offset calibration are achieved.
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IROS - An automated method to calibrate industrial robot joint offset using virtual line-based single-Point Constraint approach
2009 IEEE RSJ International Conference on Intelligent Robots and Systems, 2009Co-Authors: Yong Liu, George Zhang, Heping Chen, Chi Zhang, Michael J Jeffery, Thomas A FuhlbriggeAbstract:This paper describes an industrial robot joint offset calibration method called the virtual line-based single-Point Constraint approach. Previous methods such as using CMM, laser trackers or cameras are limited by the cost or the resolution. The proposed method relies mainly upon a laser Pointer attached on the end-effector and single position-sensitive detector (PSD) arbitrarily located on the workcell. The automated calibration procedure (about three minutes) involves aiming the laser lines loaded by the robot towards the center of the PSD surface from various robot positions and orientations. The intersections of each pair of laser lines eventually should converge to the same Point after compensating the joint offsets. An optimization model and algorithm have been formulated to identify the robot offset. For the highly precise feedback, a segmented PSD with a position resolution of better than 0.1 µm is employed. The mean accuracy of robot localization is up to 0.02 mm, and the mean error of the parameter identification is less than 0.08 degrees. Both simulations and experiments implemented on an ABB industrial robot verify the feasibility of the proposed method and demonstrated the effectiveness of the developed calibration system. The goal of fast, automated, low-cost, and high precision offset calibration are achieved.
Yong Liu - One of the best experts on this subject based on the ideXlab platform.
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low cost and automated calibration method for joint offset of industrial robot using single Point Constraint
Industrial Robot-an International Journal, 2011Co-Authors: Yong LiuAbstract:Purpose – The industrial robot has high repeatability but low accuracy. With the industrial robot being widely used in complicated tasks, e.g. arc welding, offline programming and surgery, accuracy of the robot is more and more important. Robot calibration is an efficient way to improve the accuracy. Previous methods such as using coordinate measurement machines, laser trackers or cameras are limited by the cost, complex operation or the resolution. The purpose of this paper is to propose an approach and calibration equipment to address these issues.Design/methodology/approach – The proposed method relies mainly upon a laser Pointer attached on the end‐effector and single position‐sensitive devices (PSD) arbitrarily located on the workcell. The automated calibration procedure (about three minutes) involves aiming the laser lines loaded by the robot towards the center of the PSD surface from various robot positions and orientations. The localization is guaranteed by precise PSD feedback servoing control, w...
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an automated method to calibrate industrial robot joint offset using virtual line based single Point Constraint approach
Intelligent Robots and Systems, 2009Co-Authors: Yong Liu, George Zhang, Heping Chen, Chi Zhang, Michael J Jeffery, Thomas A FuhlbriggeAbstract:This paper describes an industrial robot joint offset calibration method called the virtual line-based single-Point Constraint approach. Previous methods such as using CMM, laser trackers or cameras are limited by the cost or the resolution. The proposed method relies mainly upon a laser Pointer attached on the end-effector and single position-sensitive detector (PSD) arbitrarily located on the workcell. The automated calibration procedure (about three minutes) involves aiming the laser lines loaded by the robot towards the center of the PSD surface from various robot positions and orientations. The intersections of each pair of laser lines eventually should converge to the same Point after compensating the joint offsets. An optimization model and algorithm have been formulated to identify the robot offset. For the highly precise feedback, a segmented PSD with a position resolution of better than 0.1 µm is employed. The mean accuracy of robot localization is up to 0.02 mm, and the mean error of the parameter identification is less than 0.08 degrees. Both simulations and experiments implemented on an ABB industrial robot verify the feasibility of the proposed method and demonstrated the effectiveness of the developed calibration system. The goal of fast, automated, low-cost, and high precision offset calibration are achieved.
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IROS - An automated method to calibrate industrial robot joint offset using virtual line-based single-Point Constraint approach
2009 IEEE RSJ International Conference on Intelligent Robots and Systems, 2009Co-Authors: Yong Liu, George Zhang, Heping Chen, Chi Zhang, Michael J Jeffery, Thomas A FuhlbriggeAbstract:This paper describes an industrial robot joint offset calibration method called the virtual line-based single-Point Constraint approach. Previous methods such as using CMM, laser trackers or cameras are limited by the cost or the resolution. The proposed method relies mainly upon a laser Pointer attached on the end-effector and single position-sensitive detector (PSD) arbitrarily located on the workcell. The automated calibration procedure (about three minutes) involves aiming the laser lines loaded by the robot towards the center of the PSD surface from various robot positions and orientations. The intersections of each pair of laser lines eventually should converge to the same Point after compensating the joint offsets. An optimization model and algorithm have been formulated to identify the robot offset. For the highly precise feedback, a segmented PSD with a position resolution of better than 0.1 µm is employed. The mean accuracy of robot localization is up to 0.02 mm, and the mean error of the parameter identification is less than 0.08 degrees. Both simulations and experiments implemented on an ABB industrial robot verify the feasibility of the proposed method and demonstrated the effectiveness of the developed calibration system. The goal of fast, automated, low-cost, and high precision offset calibration are achieved.
Massimiliano D. Rosini - One of the best experts on this subject based on the ideXlab platform.
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Representation of capacity drop at a road merge via Point Constraints in a first order traffic model
ESAIM: Mathematical Modelling and Numerical Analysis, 2019Co-Authors: Edda Dal Santo, Carlotta Donadello, Sabrina Francesca Pellegrino, Massimiliano D. RosiniAbstract:We reproduce the capacity drop phenomenon at a road merge by implementing a non-local Point Constraint at the junction in a first order traffic model. We call capacity drop the situation in which the outflow through the junction is lower than the receiving capacity of the outgoing road, as too many vehicles trying to access the junction from the incoming roads hinder each other. In this paper, we first construct an enhanced version of the locally constrained model introduced by Haut et al . (Proceedings 16th IFAC World Congress. Prague, Czech Republic 229 (2005) TuM01TP/3), then we propose its counterpart featuring a non-local Constraint and finally we compare numerically the two models by constructing an adapted finite volumes scheme.
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An existence result for a constrained two-phase transition model with metastable phase for vehicular traffic
2018Co-Authors: Mohamed Benyahia, Nikodem Dymski, Carlotta Donadello, Massimiliano D. RosiniAbstract:In this paper we study a phase transition model for vehicular traffic flows. Two phases are taken into account, according to whether the traffic is light or heavy. We assume that the two phases have a non-empty intersection, the so called metastable phase. The model is given by the Lighthill-Whitham-Richards model in the free-flow phase and by the Aw-Rascle-Zhang model in the congested phase. In particular, we study the existence of solutions to Cauchy problems satisfying a local Point Constraint on the density flux. We prove that if the Constraint F is higher than the minimal flux f − c of the metastable phase, then constrained Cauchy problems with initial data of bounded total variation admit globally defined solutions. We also provide sufficient conditions on the initial data that guarantee the global existence of solutions also in the case F < f − c. These results are obtained by applying the wave-front tracking technique.
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General phase transition models for vehicular traffic with Point Constraints on the flow: Dal Santoet al.
Mathematical Methods in the Applied Sciences, 2017Co-Authors: E. Dal Santo, Nikodem Dymski, Massimiliano D. Rosini, Mohamed BenyahiaAbstract:We generalize the phase transition model studied in [R. Colombo. Hyperbolic phase transition in traffic flow.\ SIAM J.\ Appl.\ Math., 63(2):708-721, 2002], that describes the evolution of vehicular traffic along a one-lane road. Two different phases are taken into account, according to whether the traffic is low or heavy. The model is given by a scalar conservation law in the \emph{free-flow} phase and by a system of two conservation laws in the \emph{congested} phase. In particular, we study the resulting Riemann problems in the case a local Point Constraint on the flux of the solutions is enforced.
George Zhang - One of the best experts on this subject based on the ideXlab platform.
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an automated method to calibrate industrial robot joint offset using virtual line based single Point Constraint approach
Intelligent Robots and Systems, 2009Co-Authors: Yong Liu, George Zhang, Heping Chen, Chi Zhang, Michael J Jeffery, Thomas A FuhlbriggeAbstract:This paper describes an industrial robot joint offset calibration method called the virtual line-based single-Point Constraint approach. Previous methods such as using CMM, laser trackers or cameras are limited by the cost or the resolution. The proposed method relies mainly upon a laser Pointer attached on the end-effector and single position-sensitive detector (PSD) arbitrarily located on the workcell. The automated calibration procedure (about three minutes) involves aiming the laser lines loaded by the robot towards the center of the PSD surface from various robot positions and orientations. The intersections of each pair of laser lines eventually should converge to the same Point after compensating the joint offsets. An optimization model and algorithm have been formulated to identify the robot offset. For the highly precise feedback, a segmented PSD with a position resolution of better than 0.1 µm is employed. The mean accuracy of robot localization is up to 0.02 mm, and the mean error of the parameter identification is less than 0.08 degrees. Both simulations and experiments implemented on an ABB industrial robot verify the feasibility of the proposed method and demonstrated the effectiveness of the developed calibration system. The goal of fast, automated, low-cost, and high precision offset calibration are achieved.
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IROS - An automated method to calibrate industrial robot joint offset using virtual line-based single-Point Constraint approach
2009 IEEE RSJ International Conference on Intelligent Robots and Systems, 2009Co-Authors: Yong Liu, George Zhang, Heping Chen, Chi Zhang, Michael J Jeffery, Thomas A FuhlbriggeAbstract:This paper describes an industrial robot joint offset calibration method called the virtual line-based single-Point Constraint approach. Previous methods such as using CMM, laser trackers or cameras are limited by the cost or the resolution. The proposed method relies mainly upon a laser Pointer attached on the end-effector and single position-sensitive detector (PSD) arbitrarily located on the workcell. The automated calibration procedure (about three minutes) involves aiming the laser lines loaded by the robot towards the center of the PSD surface from various robot positions and orientations. The intersections of each pair of laser lines eventually should converge to the same Point after compensating the joint offsets. An optimization model and algorithm have been formulated to identify the robot offset. For the highly precise feedback, a segmented PSD with a position resolution of better than 0.1 µm is employed. The mean accuracy of robot localization is up to 0.02 mm, and the mean error of the parameter identification is less than 0.08 degrees. Both simulations and experiments implemented on an ABB industrial robot verify the feasibility of the proposed method and demonstrated the effectiveness of the developed calibration system. The goal of fast, automated, low-cost, and high precision offset calibration are achieved.
Heping Chen - One of the best experts on this subject based on the ideXlab platform.
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an automated method to calibrate industrial robot joint offset using virtual line based single Point Constraint approach
Intelligent Robots and Systems, 2009Co-Authors: Yong Liu, George Zhang, Heping Chen, Chi Zhang, Michael J Jeffery, Thomas A FuhlbriggeAbstract:This paper describes an industrial robot joint offset calibration method called the virtual line-based single-Point Constraint approach. Previous methods such as using CMM, laser trackers or cameras are limited by the cost or the resolution. The proposed method relies mainly upon a laser Pointer attached on the end-effector and single position-sensitive detector (PSD) arbitrarily located on the workcell. The automated calibration procedure (about three minutes) involves aiming the laser lines loaded by the robot towards the center of the PSD surface from various robot positions and orientations. The intersections of each pair of laser lines eventually should converge to the same Point after compensating the joint offsets. An optimization model and algorithm have been formulated to identify the robot offset. For the highly precise feedback, a segmented PSD with a position resolution of better than 0.1 µm is employed. The mean accuracy of robot localization is up to 0.02 mm, and the mean error of the parameter identification is less than 0.08 degrees. Both simulations and experiments implemented on an ABB industrial robot verify the feasibility of the proposed method and demonstrated the effectiveness of the developed calibration system. The goal of fast, automated, low-cost, and high precision offset calibration are achieved.
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IROS - An automated method to calibrate industrial robot joint offset using virtual line-based single-Point Constraint approach
2009 IEEE RSJ International Conference on Intelligent Robots and Systems, 2009Co-Authors: Yong Liu, George Zhang, Heping Chen, Chi Zhang, Michael J Jeffery, Thomas A FuhlbriggeAbstract:This paper describes an industrial robot joint offset calibration method called the virtual line-based single-Point Constraint approach. Previous methods such as using CMM, laser trackers or cameras are limited by the cost or the resolution. The proposed method relies mainly upon a laser Pointer attached on the end-effector and single position-sensitive detector (PSD) arbitrarily located on the workcell. The automated calibration procedure (about three minutes) involves aiming the laser lines loaded by the robot towards the center of the PSD surface from various robot positions and orientations. The intersections of each pair of laser lines eventually should converge to the same Point after compensating the joint offsets. An optimization model and algorithm have been formulated to identify the robot offset. For the highly precise feedback, a segmented PSD with a position resolution of better than 0.1 µm is employed. The mean accuracy of robot localization is up to 0.02 mm, and the mean error of the parameter identification is less than 0.08 degrees. Both simulations and experiments implemented on an ABB industrial robot verify the feasibility of the proposed method and demonstrated the effectiveness of the developed calibration system. The goal of fast, automated, low-cost, and high precision offset calibration are achieved.