Nongeometric error identification and compensation for robotic system by inverse calibration

International Journal of Machine Tools and Manufacture

Volumn 40, Issue 14, 2000, Pages 2119-2137

  Gong, Chunhe ^a   Yuan, Jingxia ^a   Ni, Jun ^a  

^a UNIVERSITY OF MICHIGAN   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ERROR ANALYSIS; REGRESSION ANALYSIS; ROBOTICS;

INVERSE CALIBRATION METHOD;

MACHINE TOOLS;

EID: 0342572457     PISSN: 08906955     EISSN: None     Source Type: Journal    
DOI: 10.1016/S0890-6955(00)00023-7     Document Type: Article

References (20)

1. Chen J.S., Yuan J., Ni J. Real-time compensation for time-variant volumetric errors on a machining center. Transaction of the ASME Journal of Engineering for Industry. 115:1993;472-479.
2. Denavit J., Hartenberg R.S. A kinematic notation for lower pair mechanisms based on matrices. Journal of Applied Mechanics. 22:1955;215-221.
3. Duelen G., Schroer K. Robot calibration - method and results. Journal of Robotics and Computer Integrated Manufacturing. 8(4):1991;223-231.
4. Gong C., Yuan J., Ni J. A self-calibration method for robot measurement system. Transactions of the ASME Journal of Manufacturing Science and Engineering. 122:2000;174-181.
5. C. Gong, J. Yuan, J. Ni, Robot thermal error calibration and modeling with orthogonal modeling, 2000 Japan-USA Symposium on Flexible Automation, Ann Arbor, Michigan, USA, 2000.
6. Hayti S., Mirmirani M. Improving the absolute positioning accuracy of robot manipulators. Journal of Robotics Systems. 2(4):1985;397-413.
7. Heisel U., Richter F., Wurst K.H. Thermal behavior of industrial robots and possibilities for error compensation. Annals of the CIRP. 46:1997;283-286.
8. Hollerbach J.M. A Survey of Kinematic Calibration, The Robotics Review. 1988;MIT Press, Cambridge, Mass.
9. Hudgens J.C., Hernandez E., Tesar D. A compliance parameter estimation method for serial manipulator DSC. Applications of Modeling and Identification to Improve Machine Performance ASME. 29:1991;15-23.
10. M. Juberts, Repeatability measurements of a vision servoed manipulator using an optoelectronic remote 3-D tracking system. In: Proceedings of IEEE Conference on Systems, Man and Cybernetics, Tuscon, Arizona, 1985.
11. C.H. Lo, J. Ni, J. Yuan, Thermal sensor placement strategy for machine error compensation. ASME Winter Annual Meeting, Atlanta: Dynamic System and Control Division, 1996, pp. 50-56.
12. Mooring B. Fundamentals of Manipulator Calibration. 1991;J. Wiley, New York.
13. B.W. Mooring, D.N. Bingham, J. Hoffman, Enhancement of repeatability during warm-up for the IBM 7565 robot, computers in engineering. Proceedings of the International Computers in Engineering Conference ASME, Vol. 1 1985, pp. 259-262.
14. Roth Z.S., Mooring Z.W., Ravani B. An overview of robot calibration. IEEE Journal of Robotics and Automation. 3(5):1987;377-385.
15. Sadler J.P., Yang Z., Askren B.A. Finite element methods for the design of mechanisms and robotic manipulators. International Journal of Computer Applications in Technology. 7(3/6):1994;305-315.
16. Whitney D.E., Lozinski C.A., Rourke J.M. Industrial robot forward calibration - methods and results. Journal of Dynamic Systems Measurement and Control, Transaction of ASME. 108:1986;1-8.
17. Wu C.H. A kinematic CAD tool for the design and control of a robot manipulator. International Journal of Robotics Research. 3(1):1984;58-67.
18. Z. Yang, J.P. Sadler, Finite element analysis of revolute manipulators with link and joint compliance by joint-beam elements. Robotics, Spatial Mechanisms, and Mechanical Systems. American Society of Mechanical Engineers, Design Engineering Division DE, ASME, Vol. 45, 1992, pp. 619-625.
19. Z. Yang, J.P. Sadler, Finite element modeling of spatial robot manipulators flexible mechanism, dynamics, and robot trajectories. American Society of Mechanical Engineers, Design Engineering Division DE, ASME, Vol. 24, 1990, pp. 489-496.
20. Yuan J., Ni J. The real-time error compensation technique for CNC machining systems. Mechatronics. 8:1998;359-380.