A systematic technique to estimate positioning errors for robot accuracy improvement using laser interferometry based sensing

Mechanism and Machine Theory

Volumn 40, Issue 8, 2005, Pages 879-906

  Alici, Gürsel ^a   Shirinzadeh, Bijan ^b  

^a UNIVERSITY OF WOLLONGONG   (Australia)

^b MONASH UNIVERSITY   (Australia)

Author keywords

Error estimation and compensation; Laser based dynamic sensing; Parameter estimation; Robot calibration

Indexed keywords

APPROXIMATION THEORY; INTERFEROMETRY; KINEMATICS; MANIPULATORS; PARAMETER ESTIMATION; POLYNOMIALS; SENSORS; TRACKING (POSITION);

KINEMATIC PARAMETERS; LASER INTERFEROMETRY; ROBOT ACCURACY; ROBOT MANIPULATORS;

ROBOTICS;

EID: 21244454370     PISSN: 0094114X     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.mechmachtheory.2004.12.012     Document Type: Article

References (26)

1. U. Amato, A. Antoniadis, and I.D. Feis Fourier series approximation of separable models Journal of Computational and Applied Mathematics 146 2002 459 479
2. J.H. Borm, and C.H. Menq Determination of optimal measurement configurations for robot calibration based on observability measure International Journal of Robotics Research 10 1 1991 51 63
3. C.F. Bracciali, A.P. Da Silva, and A.S. Ranga Szegö polynomials; some relations to L-orthogonal and orthogonal polynomials Journal of Computational and Applied Mathematics 153 2003 79 88
4. T.F. Coleman, and L. Li An interior, trust region approach for nonlinear minimization subject to bounds Journal of Optimization 6 1996 418 445
5. M.R. Driels, and U.S. Pathre Significance of observation strategy on the design of robot calibration experiments Journal of Robotic Systems 7 2 1990 197 223
6. M.R. Driels, W. Swayze, and U.S. Potter Full-pose calibration of a robot manipulator using a coordinate-measuring machine International Journal of Advanced Manufacturing Technology 8 1993 34 41
7. Ph. Drouet, S. Dubowsky, S. Zeghloul, and C. Mavroidis Compensation of geometric and elastic errors in large manipulators with an application to a high accuracy medical system Robotica 2 2002 341 352
8. R.P. Dudd, and A.B. Knasinski A technique to calibrate industrial robots with experimental verification IEEE Transactions on Robotics and Automation 6 1 1990 20 30
9. J.M. Hollerbach, and C.W. Wampler The calibration index and taxonomy for robot kinematic calibration methods International Journal of Robotics Research 15 6 1996 573 591
10. S.A. Hayati, Robot arm geometric link parameter estimation, in: Proceedings of 22th IEEE Decision and Control Conference, 1983, pp. 1477-1483.
11. C.C. Iurascu, and F.C. Park Geometric algorithms for kinematic calibration of robots containing closed loops ASME Journal of Mechanical Design 125 2003 23 32
12. D. Jackson, The Theory of Approximation, Colloquium Publications, American Mathematical Society XI (1930) 1-71.
13. J.H. Jang, S.H. Kim, and Y.K. Kwak Calibration of geometric and non-geometric errors of an industrial robot Robotica 19 2001 311 321
14. B.W. Mooring, Z.S. Roth, and M.R. Driels Fundamentals of Manipulator Calibration 1991 John Wiley New York
15. W.S. Newman, C.E. Birkhimer, R.J. Horning, A.T. Wilkey, Calibration of a Motoman P8 robot based on laser tracking, in: Proceedings of the IEEE International Conference on Robotics and Automation, 2000, pp. 3597-3602.
16. A. Omodei, G. Legnani, and R. Adamini Three methodologies for the calibration of industrial manipulators: experimental results on a SCARA robot Journal of Robotic Systems 17 6 2000 291 307
17. D. Payannet, M.J. Aldon, A. Liegeois, Identification and compensation of mechanical errors for industrial robots, in: Proceedings of the 15th International Symposium on Industrial Robots (ISIR), Tokyo, Japan 1985, pp. 857-864.
18. J.M. Renders, E. Rossignol, M. Becquet, and R. Hanus Kinematic calibration and geometrical parameter identification for robots IEEE Transactions on Robotics and Automation 7 6 1991 721 732
19. Z.S. Roth, B.W. Mooring, and B. Ravani An overview of robot calibration IEEE Transactions on Robotics and Automation 3 5 1987 377 385
20. L. Sciavicco, and B. Siciliano Modelling and Control of Robot Manipulators 2000 Springer-Verlag Publishing Company Berlin
21. G. Szego, Orthogonal Polynomials, Colloquium Publications, American Mathematical Society XXIII, 1959.
22. P.L. Teoh, B. Shirinzadeh, C.W. Foong, and G. Alici The measurement uncertainties in laser interferometry-based sensing and tracking technique International Journal of Measurement 32 2 2002 135 150
23. G. Zak, B. Benhabib, R.G. Fenton, and I. Saban Application of the weighted least squares parameter estimation method to the robot calibration ASME Journal of Mechanical Design 116 1994 890 893
24. D.E. Whitney, C.A. Lozinski, and J.M. Bourke Industrial robot forward calibration method ASME Journal of Dynamic Systems, Measurement and Control 108 1986 1 8
25. M.A. Meggiolaro, P.C.L. Jaffe, S. Dubowsky, Achieving fine absolute positioning accuracy in large powerful manipulators, in: Proceedings of the IEEE International Conference on Robotics and Automation, Detroit, USA, May 1999, pp. 2819-2824.
26. G. Alici, and B. Shirinzadeh Enhanced stiffness modelling, identification and characterisation for robot manipulators IEEE Transactions on Robotics 21 2 2005