Research of Calibration Method for Industrial Robot Based on Error Model of Position

Round 1

Reviewer 1 Report

This work presents a calibration method for improving accuracy of robots. The math development is applied to obtain error identification equation and a set of experiments is presented to assess the proposed method.

However the paper lacks of systematic review of the literature. The proposed method lacks a clear strategy to deal with uncertainty and noise. A comparative study with other techniques is also required. Why are not considered soft-computing/machine learning methods for compensation and calibration? See for example:

R.H. Guerra et al., “Digital Twin-Based Optimization for Ultraprecision Motion Systems with Backlash and Friction,” IEEE Access, vol. 7, pp. 93462–93472, 2019, doi: 10.1109/ACCESS.2019.2928141.

R. Kelly, et al., “Lyapunov stable control of robot manipulators: A fuzzy self-tuning procedure,” Intell. Autom. Soft Comput., vol. 5, no. 4, 1999, doi: 10.1080/10798587.1999.10750611.

Author Response

Dear Reviewers:

    Thank you very much for your careful review and constructive suggestions with regard to our manuscript. Those comments are so valuable and helpful for authors to correct and improve our manuscript. We have studied comments carefully and tried our best to revise the manuscript and made corresponding changes. Appended to this letter is our point-by-point response to the comments that you raised.

 

 

Author Response File: Author Response.docx

Reviewer 2 Report

First, I would like to congratulate the Author for a very interesting article.

Comments:

1. More references. Some important references from this research area were omitted.
2. In the paper is not any information about software. The experiments are used to independent two systems: an ABB robot and laser tracer. How data from the laser system are transfer during the calibration process into the robot system?
3. If possible, it would be very interesting to compare the results of the proposed solution with others known from the literature.

Author Response

Dear Reviewers:

 

Thank you very much for your careful review and constructive suggestions with regard to our manuscript. Those comments are so valuable and helpful for authors to correct and improve our manuscript. We have studied comments carefully and tried our best to revise the manuscript and made corresponding changes. Appended to this letter is our point-by-point response to the comments that you raised.

Author Response File: Author Response.docx

Reviewer 3 Report

Theoretical part of the manuscript can be simplified and demonstrated more concisely. Demonstration of the results can be improved by adding a couple more plots. 

Author Response

Dear Reviewers:

 

Thank you very much for your careful review and constructive suggestions with regard to our manuscript. Those comments are so valuable and helpful for authors to correct and improve our manuscript. We have studied comments carefully and tried our best to revise the manuscript and made corresponding changes. Appended to this letter is our revised manuscript.

Author Response File: Author Response.docx

Round 2

Reviewer 1 Report

No further comments.