Next Article in Journal
Feasibility of Backscatter Communication Using LoRAWAN Signals for Deep Implanted Devices and Wearable Applications
Previous Article in Journal
Synchronization Theory-Based Analysis of Coupled Vibrations of Dual-Tube Coriolis Mass Flowmeters
 
 
Search for Articles:
Title / Keyword
Author / Affiliation / Email
Journal
Article Type
 
 
Advanced Search
 
Section
Special Issue
Volume
Issue
Number
Page
 
Journals
Sensors
Volume 20
Issue 21
10.3390/s20216341
sensors-logo
Submit to this Journal Review for this Journal Propose a Special Issue
► Article Menu

Article Menu

share Share announcement Help format_quote Cite question_answer Discuss in SciProfiles
first_page
settings
Order Article Reprints
Font Type:
Arial Georgia Verdana
Font Size:
Aa Aa Aa
Line Spacing:
Column Width:
Background:
Article

Improvement of Robot Accuracy with an Optical Tracking System

by
Ying Liu
1,
Yuwen Li
1,*,
Zhenghao Zhuang
1 and
Tao Song
2,*
1
Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 201900, China
2
Shanghai Robot Industrial Technology Research Institute, Shanghai 200062, China
*
Authors to whom correspondence should be addressed.
Sensors 2020, 20(21), 6341; https://doi.org/10.3390/s20216341
Submission received: 21 September 2020 / Revised: 15 October 2020 / Accepted: 3 November 2020 / Published: 6 November 2020
(This article belongs to the Section Sensors and Robotics)
Browse Figures
Versions Notes

Abstract

Robot positioning accuracy plays an important role in industrial automation applications. In this paper, a method is proposed for the improvement of robot accuracy with an optical tracking system that integrates a least-square numerical algorithm for the identification of kinematic parameters. In the process of establishing the system kinematics model, the positioning errors of the tool and the robot base, and the errors of the Denavit-Hartenberg parameters are all considered. In addition, the linear dependence among the parameters is analyzed. Numerical simulation based on a 6-axis UR robot is performed to validate the effectiveness of the proposed method. Then, the method is implemented on the actual robot, and the experimental results show that the robots can reach desired poses with an accuracy of ±0.35 mm for position and ±0.07° for orientation. Benefitting from the optical tracking system, the proposed procedure can be easily automated to improve the robot accuracy for applications requiring high positioning accuracy such as riveting, drill, and precise assembly.
Keywords: robot; kinematic parameter identification; optical tracking system robot; kinematic parameter identification; optical tracking system

Share and Cite

MDPI and ACS Style

Liu, Y.; Li, Y.; Zhuang, Z.; Song, T. Improvement of Robot Accuracy with an Optical Tracking System. Sensors 2020, 20, 6341. https://doi.org/10.3390/s20216341

AMA Style

Liu Y, Li Y, Zhuang Z, Song T. Improvement of Robot Accuracy with an Optical Tracking System. Sensors. 2020; 20(21):6341. https://doi.org/10.3390/s20216341

Chicago/Turabian Style

Liu, Ying, Yuwen Li, Zhenghao Zhuang, and Tao Song. 2020. "Improvement of Robot Accuracy with an Optical Tracking System" Sensors 20, no. 21: 6341. https://doi.org/10.3390/s20216341

APA Style

Liu, Y., Li, Y., Zhuang, Z., & Song, T. (2020). Improvement of Robot Accuracy with an Optical Tracking System. Sensors, 20(21), 6341. https://doi.org/10.3390/s20216341

Note that from the first issue of 2016, this journal uses article numbers instead of page numbers. See further details here.

Article Metrics

Back to TopTop