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Yong Liu - One of the best experts on this subject based on the ideXlab platform.

  • low cost and automated calibration method for joint offset of industrial robot using single point Constraint
    Industrial Robot-an International Journal, 2011
    Co-Authors: Yong Liu
    Abstract:

    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...

  • an automated method to calibrate industrial robot joint offset using virtual line based single point Constraint approach
    Intelligent Robots and Systems, 2009
    Co-Authors: Yong Liu, George Zhang, Heping Chen, Chi Zhang, Michael J Jeffery, Thomas A Fuhlbrigge
    Abstract:

    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.

  • development and sensitivity analysis of a portable calibration system for joint offset of industrial robot
    Intelligent Robots and Systems, 2009
    Co-Authors: Yong Liu, Jianguo Zhao, Erick Nievesrivera, Yunyi Jia, Ingtua Gao
    Abstract:

    This paper describes our updated system for industrial robot joint offset calibration. The system consists of an IRB1600 industrial robot, a laser tool attached to the robot's end-effector, a portable position-sensitive device (PPD), and a PC based controller. By aiming the laser spot to the center of position-sensitive-detector (PSD) on the PPD with different robot configurations, the developed system ideally implements our proposed calibration method called the virtual line-based Single-Point Constraint approach. However, unlike our previous approach, the calibration method is extended to identify the offset parameters with an uncalibrated laser tool. The position errors of the PPD and the sensitivities of error in the PSD plane to the variation of joint angles are analyzed. Two different robot configuration patterns are compared by implementing the calibration method. Both simulation and real experimental results are consistent with the mathematical analysis. Experimental results with small (10−3−10−2) mean and standard deviation of parameters error verify the effectiveness of both the sensitivity analysis and the developed system.

Thomas A Fuhlbrigge - One of the best experts on this subject based on the ideXlab platform.

  • an automated method to calibrate industrial robot joint offset using virtual line based single point Constraint approach
    Intelligent Robots and Systems, 2009
    Co-Authors: Yong Liu, George Zhang, Heping Chen, Chi Zhang, Michael J Jeffery, Thomas A Fuhlbrigge
    Abstract:

    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.

George Zhang - One of the best experts on this subject based on the ideXlab platform.

  • an automated method to calibrate industrial robot joint offset using virtual line based single point Constraint approach
    Intelligent Robots and Systems, 2009
    Co-Authors: Yong Liu, George Zhang, Heping Chen, Chi Zhang, Michael J Jeffery, Thomas A Fuhlbrigge
    Abstract:

    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.

  • an automated method to calibrate industrial robot joint offset using virtual line based single point Constraint approach
    Intelligent Robots and Systems, 2009
    Co-Authors: Yong Liu, George Zhang, Heping Chen, Chi Zhang, Michael J Jeffery, Thomas A Fuhlbrigge
    Abstract:

    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.

Chi Zhang - One of the best experts on this subject based on the ideXlab platform.

  • an automated method to calibrate industrial robot joint offset using virtual line based single point Constraint approach
    Intelligent Robots and Systems, 2009
    Co-Authors: Yong Liu, George Zhang, Heping Chen, Chi Zhang, Michael J Jeffery, Thomas A Fuhlbrigge
    Abstract:

    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.