Prediction and Compensation of Relative Position Error along Industrial Robot End-Effector Paths

다국어 초록 (Multilingual Abstract)

In on-line and especially in off-line programming of industrial robots the attainable accuracy has to be taken into account. Especially in the case of off-line programming along particular trajectories followed, neglecting position errors leads to a need for kinematic calibration procedures which, however, apply to the robot controller level. If end effector error is taken into consideration in off-line programming a compensated commanded trajectory can be programmed. This is different to well-established calibration procedures, because it keeps the original kinematic model of the robot and tries to improve accuracy along the particular trajectory of interest. In this paper, the methodology for measuring, predicting and compensating end effector position errors is presented. A straight line trajectory is used as an example in connection to a particular industrial robotic arm. Measurements are taken using white-light metrology. Based on these measurements an error prediction model is constructed by training an Artificial Neural Network. A second neural network model is trained to yield joint coordinates that minimise position error, which is proved by employing the prediction model on the results of the compensation model.

참고문헌 (Reference)

1 Santolaria, J., "Uncertainty Estimation in Robot Kinematic Calibration" 29 (29): 370-384, 2013

2 Lee, M. S., "The Effective Kinematic Calibration Method of Industrial Manipulators using IGPS" 5059-5062, 2009

3 Berg, J. O, "Robot Accuracy: A Matter of Programming" 7 (7): 193-197, 1992

4 Pan, Z, "Recent Progress on Programming Methods of Industrial Robots" 28 (28): 87-94, 2012

5 Alici, G., "Prediction of Geometric Errors of Robot Manipulators with Particle Swarm Optimisation Method" 54 (54): 956-966, 2006

6 Yin, J, "Pose Accuracy Calibration of a Serial Five DOF Robot" 14 : 977-982, 2012

7 Benardos, P. G, "Optimizing Feedforward Artificial Neural Network Architecture" 20 (20): 365-382, 2007

8 Shiakolas, P. S, "On the Accuracy, Repeatability and Degree of Influence of Kinematics Parameters for Industrial Robots," 22 (22): 2002

9 Gong, C., "Nongeometric Error Identification and Compensation for Robotic System by Inverse Calibration" 40 (40): 2119-2137, 2000

10 Rojas, R, "Neural Networks: A Systematic Introduction" Springer 502-, 1996

11 "Manipulating Industrial Robots. Performance Criteria and Related Test Methods"

12 Shirinzadeh, B., "Laser Interferometry-Based Guidance Methodology for High Precision Positioning of Mechanisms and Robots" 26 (26): 74-82, 2010

13 Visher, P, "Kinematic Calibration of the Parallel Delta Robot" 16 (16): 207-218, 1998

14 Cui, H., "Kinematic Analysis and Error Modeling of TAU Parallel Robot" 21 (21): 497-505, 2005

15 Abtahi, M., "Experimental Kinematic Calibration of Parallel Manipulators using a Relative Position Error Measurement System" 26 (26): 799-804, 2010

16 Wang, S., "Error Compensation and Calibration of Inter-Section Line Welding Robot Based on a Wavelet Neural Network" 88 : 33-40, 2011

17 Mathworks, "Documentation Center-Matlab"

18 Keyhwan Kim, "Development of the End-effector Measurement System for a 6-axis Welding Robot" 한국정밀공학회 11 (11): 519-526, 2010

19 Jang, J. H., "Calibration of Geometric and Non-Geometric Errors of an Industrial Robot" 19 (19): 311-321, 2001

20 Schröer, K., "Calibration Applied to Quality Control in Robot Production" 3 (3): 575-580, 1995

21 Elatta, A. Y., "An Overview of Robot Calibration" 3 (3): 74-78, 2004

22 Nubiola, A, "Absolute Calibration of an ABB IRB 1600 Robot using a Laser Tracker" 2012

23 Alici, G., "A Systematic Technique to Estimate Positioning Errors for Robot Accuracy Improvement using Laser Interferometry Based Sensing" 40 (40): 879-906, 2005

24 Tao, P. Y., "A Sensor-based Approach for Error Compensation of Industrial Robotic Workcells" 5240-5245, 2012

25 Watanabe, A., "A Kinematic Calibration Method for Industrial Robots using Autonomous Visual Measurement" 55 (55): 1-6, 2006