Abstract
This paper proposes a methodology for calibration of industrial robots that uses a concept of measurement sub-regions, allowing low-cost solutions and easy implementation to meet the robot accuracy requirements in industrial applications. The solutions to increasing the accuracy of robots today have high-cost implementation, making calibration throughout the workplace in industry a difficult and unlikely task. Thus, reducing the time spent and the measured workspace volume of the robot end-effector are the main benefits of the implementation of the sub-region concept, ensuring sufficient flexibility in the measurement step of robot calibration procedures. The main contribution of this article is the proposal and discussion of a methodology to calibrate robots using several small measurement sub-regions and gathering the measurement data in a way equivalent to the measurements made in large volume regions, making feasible the use of high-precision measurement systems but limited to small volumes, such as vision-based measurement systems. The robot calibration procedures were simulated according to the literature, such that results from simulation are free from errors due to experimental setups as to isolate the benefits of the measurement proposal methodology. In addition, a method to validate the analytical off-line kinematic model of industrial robots is proposed using the nominal model of the robot supplier incorporated into its controller.
Similar content being viewed by others
References
Jha P (2015) Inverse kinematic analysis of robot manipulators. PhD thesis, National Institute of Technology, Rourkela, India
Siciliano B, Sciavicco L, Villani L, et al. (2008) Robotics: modelling planning and control. In: Advanced textbooks in control and signal processing. Springer, London
Motta J M S (2005) An investigation of singularities in robot kinematic chains aiming at building robot calibration models for off-line programming. J Braz Soc Mech Sci Eng 27(2):200–204. https://doi.org/10.1590/S1678-58782005000200013
He S, Ma L, Yan C, et al. (2019) Multiple location constraints based industrial robot kinematic parameter calibration and accuracy assessment. Int J Adv Manuf Technol 102(5-8):1037–1050. https://doi.org/10.1007/s00170-018-2948-z
Chen G, Wang L, Yuan B, et al. (2019) Configuration optimization for manipulator kinematic calibration based on comprehensive quality index. IEEE Access 7:50,179–50,197. https://doi.org/10.1109/ACCESS.2019.2910325
Nguyen H N, Le P N, Kang H J (2019) A new calibration method for enhancing robot position accuracy by combining a robot model–based identification approach and an artificial neural network-based error compensation technique. Adv Mech Eng 11(1):1687814018822,935. https://doi.org/10.1177/1687814018822935
Mooring BW, Roth ZS, Driels MR (1991) Fundamentals of manipulator calibration. Wiley, New York
Bernard R, Albright S (1993) Robot calibration. Springer Science & Business Media, Berlin
Zhao D, Dong C, Guo H, et al. (2018) Kinematic calibration based on the multicollinearity diagnosis of a 6-dof polishing hybrid robot using a laser tracker. Math Probl Eng 2018. https://doi.org/10.1155/2018/5602397
Chen G, Kong L, Li Q, et al. (2019) A simple two-step geometric approach for the kinematic calibration of the 3-prs parallel manipulator. Robotica 37(5):837–850. https://doi.org/10.1017/S0263574718001352
Li F, Zeng Q, Ehmann KF, et al. (2019) A calibration method for overconstrained spatial translational parallel manipulators. Robot Comput Integr Manuf 57:241–254. https://doi.org/10.1016/j.rcim.2018.12.002
Filion A, Joubair A, Tahan AS, et al. (2018) Robot calibration using a portable photogrammetry system. Robot Comput Integr Manuf 49:77–87. https://doi.org/10.1016/j.rcim.2017.05.004
Niu B (2018) Enhanced robot calibration by minimization of tcp drifts during reorientation. In: 2018 IEEE/ASME International conference on advanced intelligent mechatronics (AIM). IEEE, pp 69–74 https://doi.org/10.1109/AIM.2018.8452332
Li Z, Li S, Luo X (2020) An overview of calibration technology of industrial robots. IEEE/CAA Journal of Automatica Sinica. https://doi.org/10.1109/JAS.2020.1003381
Meggiolaro M A, Dubowsky S, Mavroidis C (2005) Geometric and elastic error calibration of a high accuracy patient positioning system. Mech Mach Theory 40(4):415–427. https://doi.org/10.1016/j.mechmachtheory.2004.07.013
Gaudreault M, Joubair A, Bonev I (2018) Self-calibration of an industrial robot using a novel affordable 3d measuring device. Sensors 18(10):3380. https://doi.org/10.3390/s18103380
Wu G, Shi G (2019) Experimental statics calibration of a multi-constraint parallel continuum robot. Mech Mach Theory 136:72–85. https://doi.org/10.1016/j.mechmachtheory.2019.02.013
Ma L, Bazzoli P, Sammons PM, et al. (2018) Modeling and calibration of high-order joint-dependent kinematic errors for industrial robots. Robot Comput Integr Manuf 50:153–167. https://doi.org/10.1016/j.rcim.2017.09.006
Zhang Y, Liu X, Chen H et al (2018) An accurate hand-eye calibration algorithm with global optimization. In: Sixth international conference on optical and photonic engineering (icOPEN 2018), international society for optics and photonics, p 108270Z https://doi.org/10.1117/12.2500972
Slamani M, Nubiola A, Bonev I (2012) Assessment of the positioning performance of an industrial robot. Industrial Robot: An International Journal. https://doi.org/10.1108/01439911211192501
Zhang Y, Zhao Y, Li G, et al. (2018) Robotic manipulator arms positioning error measurement using image registration. In: 2018 13th IEEE conference on industrial electronics and applications (ICIEA). https://doi.org/10.1109/ICIEA.2018.8397825. IEEE, pp 813–817
Zhou J, Kang HJ (2015) A hybrid least-squares genetic algorithm–based algorithm for simultaneous identification of geometric and compliance errors in industrial robots. Adv Mech Eng 7(6):1687814015590,289. https://doi.org/10.1177/1687814015590289
Wen X, He S, Qiao G et al (2019) Uncertainty estimation of robot geometric parameters and end-effecter position based on new generation gps. Mathematical Problems in Engineering https://doi.org/10.1155/2019/7830489
Wang Z, Liu R, Sparks T, et al. (2018) Industrial robot trajectory accuracy evaluation maps for hybrid manufacturing process based on joint angle error analysis. Adv Robot Autom 7(1):1–12. https://doi.org/10.4172/2168-9695.1000183
Nguyen HT, Thanh LP, Jeng JT (2020) A method to partition accuracy in workspace for robot arms. In: International conference on engineering research and applications. https://doi.org/10.1007/978-3-030-64719-3_5. Springer, pp 20–28
Wei Z, Wenhe L, Wei T (2013) Theory and experiment of industrial robot accuracy compensation method based on spatial interpolation. J Mech Eng 49(3):42–48. https://doi.org/10.3901/JME.2013.03.042
Ginani LS, Motta JMS (2011) Theoretical and practical aspects of robot calibration with experimental verification. J Braz Soc Mech Sci Eng 33 (1):15–21. https://doi.org/10.1590/S1678-58782011000100003
Stark G, Benz E, Hüttendorfer M (1992) Calibration experiences in industry. Internal summery of EPSRIT II CAR (5220), KUKA Schweißanlagen+ Roboter GmbH
Oliveira P, Motta JMS (2019) Kinematic calibration of a 6-d.o.f. manipulator using a model optimization routine. In: 25th International congress of mechanical engineering, brazilian society of mechanical sciences and engineering - ABCM. https://doi.org/10.26678/abcm.cobem2019.cob2019-1071
Yu C, Xi J (2018) Simultaneous and on-line calibration of a robot-based inspecting system. Robot Comput-Integr Manuf 49:349–360. https://doi.org/10.1016/j.rcim.2017.08.006
Drouot A, Irving L, Sanderson D, et al. (2017) A transformable manufacturing concept for low-volume aerospace assembly. IFAC-PapersOnLine 50(1):5712–5717. https://doi.org/10.1016/j.ifacol.2017.08.1123
Bogue R (2018) The growing use of robots by the aerospace industry. Industrial Robot: An International Journal. https://doi.org/10.1108/IR-08-2018-0160
Al Khawli T, Anwar M, Sunda-Meya A et al (2018) A calibration method for laser guided robotic manipulation for industrial automation. In: IECON 2018-44th Annual conference of the IEEE industrial electronics society. https://doi.org/10.1109/IECON.2018.8592712. IEEE, pp 2489–2495
Denavit J, Hartenberg RS (1955) A kinematic notation for lower-pair mechanisms based on matrices. J Appl Mech 77(1):215–221
Craig J (2005) Introduction to robotics: mechanics and control. Addison-Wesley series in electrical and computer engineering: control engineering, Pearson/Prentice Hall
Spong MW, Hutchinson S, Vidyasagar M (2006) Robot modeling and control, vol 3. Wiley, New York
Schröer K (1993) Theory of kinematic modelling and numerical procedures for robot calibration. Robot Calibration 157196
Robotics ABB (2004) Product specification. Articulated robot. 3HAC 9041-1. ABB Corporation, Vasteras, Sweden, 6th edn
Jazar RN (2010) Theory of applied robotics: kinematics, dynamics, and control. Springer Science & Business Media, Berlin
Baquero M, Ramırez R (2013) Kinematics, dynamics and evaluation of energy consumption for abb irb-140 serial robots in the tracking of a path. In: International congress of engineering mechatronics and automation, CIIMA, pp 23–33. https://doi.org/10.13140/2.1.3436.5448
Carter TJ (2009) The modeling of a six degree-of-freedom industrial robot for the purpose of efficient path planning. Master’s thesis, The Pennsylvania State University
Djuric A, Urbanic R (2012) Utilizing the functional work space evaluation tool for assessing a system design and reconfiguration alternatives. Robotic Systems-Applications Control and Programming: 361–368. https://doi.org/10.5772/28013
Almaged M (2017) Forward and inverse kinematic analysis and validation of the abb irb 140 industrial robot. Int J Electron Mech Mechatron Eng (IJEMME) 7(2):1383–1401
Kucuk S, Bingul Z (2006) Robot kinematics: forward and inverse kinematics, Industrial Robotics, Theory, Modelling and Control. IntechOpen. 118–148 https://doi.org/10.5772/5015
Khatamian A (2015) Solving kinematics problems of a 6-dof robot manipulator. In: Proceedings of the international conference on scientific computing (CSC), the steering committee of the world congress in computer science, computer. pp 228–233
Kütük ME, Daş MT, Dülger LC (2017) Forward and inverse kinematics analysis of denso robot. In: Proceedings of the international symposium of mechanism and machine science, pp 71–78
Robotics ABB (2018) Operating manual IRC5 with FlexPendant. ABB Corporation, Vasteras, Sweden, 9th edn
Toquica JS, Benavides D, Motta JMS (2019) Web compliant open architecture for teleoperation of industrial robots. In: 2019 IEEE 15th International conference on automation science and engineering (CASE). https://doi.org/10.1109/COASE.2019.8842847. IEEE, pp 1408–1414
Hayes MJD, O’Leary PL (2001) Kinematic calibration procedure for serial robots with six revolute axes. In: CSME Forum, pp 1–27
Shen C, Chen Y, Chen B, et al. (2018) A novel robot kinematic calibration method based on common perpendicular line model. Ind Robot: An Int J 45(6):766–775. https://doi.org/10.1108/IR-05-2018-0084
Van Toan N, Khoi PB (2018) A svd-least-square algorithm for manipulator kinematic calibration based on the product of exponentials formula. J Mech Sci Technol 32(11):5401–5409. https://doi.org/10.1007/s12206-018-1038-3
Xie Z, Zong P, Yao P, et al. (2019) Calibration of 6-dof industrial robots based on line structured light. Optik 183:1166–1178. https://doi.org/10.1016/j.ijleo.2019.02.069
Zhuang H, Roth ZS (1992) Robot calibration using the cpc error model. Robot Comput-integrated Manuf 9(3):227–237. https://doi.org/10.1016/0736-5845(92)90027-4
Motta JMS, De Carvalho GC, McMaster R (2001) Robot calibration using a 3d vision-based measurement system with a single camera. Robot Comput Integr Manuf 17(6):487–497. https://doi.org/10.1016/S0736-5845(01)00024-2
Schröer K, Albright SL, Grethlein M (1997) Complete, minimal and model-continuous kinematic models for robot calibration. Robot Comput Integr Manuf 13(1):73–85. https://doi.org/10.1016/S0736-5845(96)00025-7
Motta JMS, Llanos-Quintero CH, Coral Sampaio R (2016) Inverse kinematics and model calibration optimization of a five-dof robot for repairing the surface profiles of hydraulic turbine blades. Int J Adv Robot Syst 13(3):114. https://doi.org/10.5772/63673
Baker DR (1990) Some topological problems in robotics. Math Intell 12(1):66–76. https://doi.org/10.1007/BF03023989
Rietz HL (2013) Mathematical statistics. Mathematical Association of America https://doi.org/10.5948/UPO9781614440031
Acknowledgements
The authors would also like to thank the University of Brasilia for partially sponsoring this research.
Funding
This study was financed in part by the “Coordenação de Aperfeiçoamento de Pessoal de Nível Superior - Brasil” (CAPES) - Finance Code 001.
Author information
Authors and Affiliations
Corresponding author
Ethics declarations
Competing interests
The authors declare no competing interests.
Additional information
Publisher’s note
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
Rights and permissions
About this article
Cite this article
Toquica, J.S., Motta, J.M.S.T. A methodology for industrial robot calibration based on measurement sub-regions. Int J Adv Manuf Technol 119, 1199–1216 (2022). https://doi.org/10.1007/s00170-021-08308-4
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s00170-021-08308-4