Similar articles

Abstract: A novel in-contact three-dimensional (3D) measuring device, called MultiCal, is proposed as a convenient, low-cost (less than US$5000), and robust facility for onsite kinematic calibration and online measurement of robot manipulator accuracy. The device has -level accuracy and can be easily embedded in robot cells. During the calibration procedure, the robot manipulator first moves automatically to multiple end-effector orientations with its tool center point (TCP) constrained on a fixed point by a 3D displacement measuring device (single point constraint), and the corresponding joint angles are recorded. Then, the measuring device is precisely mounted at different positions using a well-designed fixture, and the above measurement process is repeated to implement a multi-point constraint. The relative mounting positions are accurately measured and used as prior information to improve calibration accuracy and robustness. The results of theoretical analysis indicate that MultiCal reduces calibration accuracy by 10% to 20% in contrast to traditional non-contact 3D or six-dimensional (6D) measuring devices (such as laser trackers) when subject to the same level of artificial measurement noise. The results of a calibration experiment conducted on a Staubli TX90 robot show that MultiCal has only 7% to 14% lower calibration accuracy compared to a measuring arm with a laser scanner, and 21% to 30% lower time efficiency compared to a 6D binocular vision measuring system, yielding maximum and mean absolute position errors of 0.831 and 0.339, respectively.

一种机械臂在线标定装置开发

[1]Castro HFF, Burdekin M, 2006. Calibration system based on a laser interferometer for kinematic accuracy assessment on machine tools. Int J Mach Tools Manuf, 46(2):89-97.

[2]Chen M, Hong X, Wei LS, et al., 2020. Robotic arm calibration and teaching method based on binocular vision. Proc 39th Chinese Control Conf, p.5963-5969.

[3]Cho Y, Do HM, Cheong J, 2019. Screw based kinematic calibration method for robot manipulators with joint compliance using circular point analysis. Robot Comput-Integr Manuf, 60:63-76.

[4]Cong DC, Yu DY, Han JW, 2006. Kinematic calibration of parallel robots using CMM. Proc 6th World Congress on Intelligent Control and Automation, p.8514-8518.

[5]Enebuse I, Foo M, Ibrahim BSKK, et al., 2021. A comparative review of hand-eye calibration techniques for vision guided robots. IEEE Access, 9:113143-113155.

[6]Feng CS, Cong S, Shang WW, 2009. Integrated kinematic calibration for all the parameters of a planar 2DOF redundantly actuated parallel manipulator. J Mech Robot, 1(3):403-421.

[7]Gaudreault M, Joubair A, Bonev IA, 2016. Local and closed-loop calibration of an industrial serial robot using a new low-cost 3D measuring device. IEEE Int Conf on Robotics and Automation, p.4312-4319.

[8]Guo YX, Song B, Tang XQ, et al., 2020. A measurement method for calibrating kinematic parameters of industrial robots with point constraint by a laser displacement sensor. Meas Sci Technol, 31(7):075004.

[9]Hayati S, Mirmirani M, 1985. Improving the absolute positioning accuracy of robot manipulators. J Robot Syst, 2(4):397-413.

[10]Icli C, Stepanenko O, Bonev I, 2020. New method and portable measurement device for the calibration of industrial robots. Sensors, 20(20):5919.

[11]Ikits M, Hollerbach JM, 1997. Kinematic calibration using a plane constraint. Int Conf on Robotics and Automation, p.3191-3196.

[12]ISO, 1998. Manipulating Industrial Robots—Performance Criteria and Related Test Methods. ISO 9283:1998. International Organization for Standardization.

[13]Joubair A, Bonev IA, 2015. Kinematic calibration of a six-axis serial robot using distance and sphere constraints. Int J Adv Manuf Technol, 77(1-4):515-523.

[14]Joubair A, Nubiola A, Bonev I, 2013. Calibration efficiency analysis based on five observability indices and two calibration models for a six-axis industrial robot. SAE Int J Aerosp, 6(1):161-168.

[15]Legnani G, Tiboni M, 2014. Optimal design and application of a low-cost wire-sensor system for the kinematic calibration of industrial manipulators. Mech Mach Theory, 73:25-48.

[16]Li BC, Shen J, 1991. Constrained optimization approach to the estimation of rotation matrix. Robot, 13(3):1-5 (in Chinese).

[17]Luo GY, Zou L, Wang ZL, et al., 2021. A novel kinematic parameters calibration method for industrial robot based on Levenberg-Marquardt and differential evolution hybrid algorithm. Robot Comput-Integr Manuf, 71:102165.

[18]Mitchell TJ, 1974. An algorithm for the construction of “D-Optimal” experimental designs. Technometrics, 16(2):203-210.

[19]Nubiola A, Slamani M, Joubair A, et al., 2014. Comparison of two calibration methods for a small industrial robot based on an optical CMM and a laser tracker. Robotica, 32(3):447-466.

[20]Park FC, Okamura K, 1994. Kinematic calibration and the product of exponentials formula. In: Lenarčič J, Ravani B (Eds.), Advances in Robot Kinematics and Computational Geometry. Springer, Dordrecht, p.119-128.

[21]Qiao GX, Weiss BA, 2017. Accuracy degradation analysis for industrial robot systems. Proc ASME 12th Int Manufacturing Science and Engineering Conf Collocated with the JSME/ASME 6th Int Conf on Materials and Processing, Article V003T04A006. doi:

[22]Sun T, Zhai YP, Song YM, et al., 2016. Kinematic calibration of a 3-DoF rotational parallel manipulator using laser tracker. Robot Comput-Integr Manuf, 41:78-91.

[23]Sun T, Liu CY, Lian BB, et al., 2020. Calibration for precision kinematic control of an articulated serial robot. IEEE Trans Ind Electron, 68(7):6000-6009.

[24]Sun Y, Hollerbach JM, 2008. Observability index selection for robot calibration. IEEE Int Conf on Robotics and Automation, p.831-836.

[25]Zhan YB, 2015. Development of a Wire Draw Encoder Based Measurement System for Robot Calibration. MS Thesis, the Hong Kong University of Science and Technology, Hong Kong, China. doi:

[26]Zhong XL, Lewis JM, Francis LNN, 1996. Autonomous robot calibration using a trigger probe. Robot Auton Syst, 18(4):395-410.