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Kinematic calibration of a 6-DOF hybrid robot by considering multicollinearity in the identification Jacobian

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Huang, Tian, Zhao, Dong, Yin, Fuwen, Tian, Wenjie and Chetwynd, D. G. (2019) Kinematic calibration of a 6-DOF hybrid robot by considering multicollinearity in the identification Jacobian. Mechanism and Machine Theory, 131 . pp. 371-384. doi:10.1016/j.mechmachtheory.2018.10.008 ISSN 0094-114X.

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Official URL: http://dx.doi.org/10.1016/j.mechmachtheory.2018.10...

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Abstract

This paper presents a systematic approach for the kinematic calibration of a 6-DOF hybrid polishing robot. It concentrates particularly on dealing with ill-conditioning that arises from multicollinearity in the identification Jacobian as a consequence of limited pose measurements. A linearized error model is formulated, using screw theory, by considering all possible source errors at the joint/link level. Calibration is based upon pose error measurements captured using a laser tracker when the polishing head undergoes pure translation within the task workspace. A two-step procedure for error parameter estimation and pose error compensation is then proposed: (1) coarse estimation and compensation of the encoder offsets using linear least squares; and (2) fine estimation of the whole set of identifiable error parameters using a Liu estimation and subsequent modification of the NC trajectory dataset of the polishing head. Both simulations and experiments on a prototype machine show that the overall standard deviation of the error parameters identified by Liu estimator is much less than that estimated by linear least squares, confirming its greater robustness in the presence of measurement uncertainty. The proposed approach results in satisfactory pose accuracy of the polishing head throughout the entire task workspace.

Item Type: Journal Article
Subjects: Q Science > QA Mathematics
T Technology > TJ Mechanical engineering and machinery
Divisions: Faculty of Science, Engineering and Medicine > Engineering > Engineering
Library of Congress Subject Headings (LCSH): Robots -- Calibration, Jacobians -- Industrial applications, Robotics
Journal or Publication Title: Mechanism and Machine Theory
Publisher: Pergamon-Elsevier Science Ltd.
ISSN: 0094-114X
Official Date: January 2019
Dates:
DateEvent
January 2019Published
16 October 2018Available
8 October 2018Accepted
Volume: 131
Page Range: pp. 371-384
DOI: 10.1016/j.mechmachtheory.2018.10.008
Status: Peer Reviewed
Publication Status: Published
Access rights to Published version: Restricted or Subscription Access
Date of first compliant deposit: 13 December 2018
Date of first compliant Open Access: 16 October 2019
RIOXX Funder/Project Grant:
Project/Grant IDRIOXX Funder NameFunder ID
51420105007[NSFC] National Natural Science Foundation of Chinahttp://dx.doi.org/10.13039/501100001809
51605324[NSFC] National Natural Science Foundation of Chinahttp://dx.doi.org/10.13039/501100001809
51721003[NSFC] National Natural Science Foundation of Chinahttp://dx.doi.org/10.13039/501100001809
734272H2020 Marie Skłodowska-Curie Actionshttp://dx.doi.org/10.13039/100010665

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