Improvement of the Accuracy of a PUMA 560 Industrial Manipulator by Calibration
01 Feb 1996-Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture (SAGE Publications)-Vol. 210, Iss: 1, pp 55-67
TL;DR: In this paper, the results of the calibration of a PUMA 560 industrial manipulator were presented and simplifications to the procedure and theory were discussed to improve the practicality of the method without seriously compromising the results.
Abstract: Compared to their repeatability, the accuracy of industrial manipulators is disappointingly poor. To permit off-line programming of manipulators and interaction with their local sui rounds a high positional accuracy is required; this is particularly true for operation under supervisory control. The accuracy of a manipulator can be improved by calibration of its link lengths and joint angle measurements.This paper presents the results of the calibration of a PUMA 560 industrial manipulator and discusses simplifications to the procedure and theory which improve the practicality of the method without seriously compromising the results. Circle point analysis is used with data points being recorded by a pair of theodolites; the relevant theory is presented in the Appendix. A joint error correction function is produced for each joint. A fourfold improvement in accuracy is demonstrated without unduly increasing the complexity of the kinematics or requiring a sophisticated end effector.
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19 Mar 1991
TL;DR: The details of the calibration process step-by-step are described, covering systems modeling, measurement, identification, correction and performance evaluation.
Abstract: From the Publisher:
Describes the details of the calibration process step-by-step, covering systems modeling, measurement, identification, correction and performance evaluation. Calibration techniques are presented with an explanation of how they interact with each other as they are modified. Shows the reader how to determine if, in fact, a robot problem is a calibration problem and then how to analyze it.
479 citations
TL;DR: Methode d'etalonnage d'un robot industriel and resultats (les coordonnees de l'outil sont obtenues a partir des valeurs des codeurs situes aux articulations) as mentioned in this paper
Abstract: Methode d'etalonnage d'un robot industriel et resultats (les coordonnees de l'outil sont obtenues a partir des valeurs des codeurs situes aux articulations)
300 citations
01 Jan 1986-Precision Engineering-journal of The International Societies for Precision Engineering and Nanotechnology
TL;DR: The concept of a 3 d laser tracking interferometer system is described in this paper and preliminary results obtained from a two-dimensional version of the system are presented.
Abstract: There is a growing worldwide effort to develop internationally accepted procedures and terminology for the measurement and description of robot performance. One of the most difficult problemss is that of determining the positional accuracy of an industrial robot throughout its large work zone. The concept of a 3 d laser tracking interferometer system is described in this paper and preliminary results obtained from a two-dimensional version of the system are presented. The full 3 d system is currently being constructed.
165 citations
07 Apr 1986
TL;DR: The S-Model arm signature identification algorithm can be implemented with relatively simple sensors and improves accuracy through statistical averaging and has been implemented with an external ultrasonic range sensor to measure robot end-effector positions.
Abstract: The positioning accuracy of commercially-available industrial robotic manipulators depends upon a kinematic model which describes the robot geometry in a parametric form Manufacturing errors in machining and assembly of manipulators lead to discrepancies between the design parameters and the physical structure Improving the kinematic performance thus requires identification of the actual kinematic parameters of each individual robot This identification of the individual kinematic parameters is called the arm signature which is then incorporated into the manipulator's controller to improve positional accuracy In this paper, an approach, based on a new parametric model of the kinematics, is introduced for arm signature identification The S-Model utilizes 6n parameters to describe the robot geometry and offers advantages for identification by decomposing the parameters into individually identified subsets The S-Model parameters are then mapped into the equivalent Denavit-Hartenberg parameters for implementation into the controller The S-Model arm signature identification algorithm can be implemented with relatively simple sensors and improves accuracy through statistical averaging This algorithm has been implemented with an external ultrasonic range sensor to measure robot end-effector positions Experimental results of arm signature identification of seven Unimation/Westinghouse Puma 560 robots demonstrated an average reduction in positioning error by a factor of 5-10 for a spectrum of representative test tasks
118 citations