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Improvement of Robot Accuracy with an Optical Tracking System

Robot positioning accuracy plays an important role in industrial automation applications. In this paper, a method is proposed for the improvement of robot accuracy with an optical tracking system that integrates a least-square numerical algorithm for the identification of kinematic parameters. In th...

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Detalles Bibliográficos
Autores principales: Liu, Ying, Li, Yuwen, Zhuang, Zhenghao, Song, Tao
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2020
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7664413/
https://www.ncbi.nlm.nih.gov/pubmed/33172137
http://dx.doi.org/10.3390/s20216341
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author Liu, Ying
Li, Yuwen
Zhuang, Zhenghao
Song, Tao
author_facet Liu, Ying
Li, Yuwen
Zhuang, Zhenghao
Song, Tao
author_sort Liu, Ying
collection PubMed
description Robot positioning accuracy plays an important role in industrial automation applications. In this paper, a method is proposed for the improvement of robot accuracy with an optical tracking system that integrates a least-square numerical algorithm for the identification of kinematic parameters. In the process of establishing the system kinematics model, the positioning errors of the tool and the robot base, and the errors of the Denavit-Hartenberg parameters are all considered. In addition, the linear dependence among the parameters is analyzed. Numerical simulation based on a 6-axis UR robot is performed to validate the effectiveness of the proposed method. Then, the method is implemented on the actual robot, and the experimental results show that the robots can reach desired poses with an accuracy of ±0.35 mm for position and ±0.07° for orientation. Benefitting from the optical tracking system, the proposed procedure can be easily automated to improve the robot accuracy for applications requiring high positioning accuracy such as riveting, drill, and precise assembly.
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spelling pubmed-76644132020-11-14 Improvement of Robot Accuracy with an Optical Tracking System Liu, Ying Li, Yuwen Zhuang, Zhenghao Song, Tao Sensors (Basel) Article Robot positioning accuracy plays an important role in industrial automation applications. In this paper, a method is proposed for the improvement of robot accuracy with an optical tracking system that integrates a least-square numerical algorithm for the identification of kinematic parameters. In the process of establishing the system kinematics model, the positioning errors of the tool and the robot base, and the errors of the Denavit-Hartenberg parameters are all considered. In addition, the linear dependence among the parameters is analyzed. Numerical simulation based on a 6-axis UR robot is performed to validate the effectiveness of the proposed method. Then, the method is implemented on the actual robot, and the experimental results show that the robots can reach desired poses with an accuracy of ±0.35 mm for position and ±0.07° for orientation. Benefitting from the optical tracking system, the proposed procedure can be easily automated to improve the robot accuracy for applications requiring high positioning accuracy such as riveting, drill, and precise assembly. MDPI 2020-11-06 /pmc/articles/PMC7664413/ /pubmed/33172137 http://dx.doi.org/10.3390/s20216341 Text en © 2020 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Liu, Ying
Li, Yuwen
Zhuang, Zhenghao
Song, Tao
Improvement of Robot Accuracy with an Optical Tracking System
title Improvement of Robot Accuracy with an Optical Tracking System
title_full Improvement of Robot Accuracy with an Optical Tracking System
title_fullStr Improvement of Robot Accuracy with an Optical Tracking System
title_full_unstemmed Improvement of Robot Accuracy with an Optical Tracking System
title_short Improvement of Robot Accuracy with an Optical Tracking System
title_sort improvement of robot accuracy with an optical tracking system
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7664413/
https://www.ncbi.nlm.nih.gov/pubmed/33172137
http://dx.doi.org/10.3390/s20216341
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