Robot Control Using Alternative Trajectories Based on Inverse Errors in the Workspace
It is easy to realize that most robots do not move to the desired endpoint (Tool Center Point (TCP)) using high-resolution noncontact instrumentation because of manufacturing and assembly errors, transmission system errors, and mechanical wear. This paper presents a robot calibration solution by cha...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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Wiley
2021-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2021/9995787 |
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| _version_ | 1832545809275551744 |
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| author | Quoc Khanh Duong Thanh Trung Trang Thanh Long Pham |
| author_facet | Quoc Khanh Duong Thanh Trung Trang Thanh Long Pham |
| author_sort | Quoc Khanh Duong |
| collection | DOAJ |
| description | It is easy to realize that most robots do not move to the desired endpoint (Tool Center Point (TCP)) using high-resolution noncontact instrumentation because of manufacturing and assembly errors, transmission system errors, and mechanical wear. This paper presents a robot calibration solution by changing the endpoint trajectories while maintaining the robot’s control system and device usages. Two independent systems to measure the endpoint positions, the robot encoder and a noncontact measuring system with a high-resolution camera, are used to determine the endpoint errors. A new trajectory based on the measured errors will be built to replace the original trajectory. The results show that the proposed method can significantly reduce errors; moreover, this is a low-cost solution and easy to apply in practice and calibration can be done cyclically. The only requirement for this method is a noncontact measuring device with high-resolution and located independently with the robot in calibration. |
| format | Article |
| id | doaj-art-ba5623c21eca40048c75e59d46297d68 |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2021-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-ba5623c21eca40048c75e59d46297d682025-02-03T07:24:38ZengWileyJournal of Robotics1687-96001687-96192021-01-01202110.1155/2021/99957879995787Robot Control Using Alternative Trajectories Based on Inverse Errors in the WorkspaceQuoc Khanh Duong0Thanh Trung Trang1Thanh Long Pham2Division of Mechatronics, Faculty of Electronic Engineering, Thai Nguyen University of Technology, Thai Nguyen 24100, VietnamDivision of Mechatronics, Faculty of Electronic Engineering, Thai Nguyen University of Technology, Thai Nguyen 24100, VietnamDivision of Mechatronics, Faculty of Electronic Engineering, Thai Nguyen University of Technology, Thai Nguyen 24100, VietnamIt is easy to realize that most robots do not move to the desired endpoint (Tool Center Point (TCP)) using high-resolution noncontact instrumentation because of manufacturing and assembly errors, transmission system errors, and mechanical wear. This paper presents a robot calibration solution by changing the endpoint trajectories while maintaining the robot’s control system and device usages. Two independent systems to measure the endpoint positions, the robot encoder and a noncontact measuring system with a high-resolution camera, are used to determine the endpoint errors. A new trajectory based on the measured errors will be built to replace the original trajectory. The results show that the proposed method can significantly reduce errors; moreover, this is a low-cost solution and easy to apply in practice and calibration can be done cyclically. The only requirement for this method is a noncontact measuring device with high-resolution and located independently with the robot in calibration.http://dx.doi.org/10.1155/2021/9995787 |
| spellingShingle | Quoc Khanh Duong Thanh Trung Trang Thanh Long Pham Robot Control Using Alternative Trajectories Based on Inverse Errors in the Workspace Journal of Robotics |
| title | Robot Control Using Alternative Trajectories Based on Inverse Errors in the Workspace |
| title_full | Robot Control Using Alternative Trajectories Based on Inverse Errors in the Workspace |
| title_fullStr | Robot Control Using Alternative Trajectories Based on Inverse Errors in the Workspace |
| title_full_unstemmed | Robot Control Using Alternative Trajectories Based on Inverse Errors in the Workspace |
| title_short | Robot Control Using Alternative Trajectories Based on Inverse Errors in the Workspace |
| title_sort | robot control using alternative trajectories based on inverse errors in the workspace |
| url | http://dx.doi.org/10.1155/2021/9995787 |
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