Error Modeling and Parameter Calibration Method for Industrial Robots Based on 6-DOF Position and Orientation

Round 1

Reviewer 1 Report

Dear Authors,

The paper is interesting and well written. However, several aspects require clarification.

1. The introduction describes various methods of robot calibration. This includes, among other things, positioning accuracy and robot parameters. Of course this is important. However, it is not mentioned what parameters of the robots are taken into account here. Some examples can be found in:

https://doi.org/10.1016/j.promfg.2017.07.114

https://doi.org/10.1016/j.jmapro.2023.06.063

https://doi.org/10.1007/978-3-030-90436-4_12

2. Please indicate clearly what is novelty of your research

3. Section 2.1 - please indicate practical applications of these frames when robot programming

4. Lines 173-175 - please provide examples of 3 error groups

5. Are your research universal for all robots or there are some limitations?

6. Tables - it would be better to use the same units.

7. Figure 5 - axis y - value/rad? Which value?

Author Response

Please see the attachment.

Author Response File: Author Response.pdf

Reviewer 2 Report

The paper presents an error modelling and parameter calibration method for industrial robots based on 6-DOF position and orientation to identify the actual structural parameters.

The paper is an interesting study, with a right methodology and the manuscript is clear, well organized and structured and the authors have worked exhaustively, taking care of the technical details.

It is opinion of the reviewer that the manuscript is very well but some suggestions could improve the paper:

- The introduction section should be improved, taking into account the more relevant studies on the subject to build a complete scientific framework.

- Model data and result values should not be included in the Abstract.

- It would be advisable to make a list of acronyms.

- It would be advisable to make a list of parameters.

For these reasons, the reviewer suggests the manuscript for the publication after minor revisions.

Author Response

Please see the attachment.

Author Response File: Author Response.pdf

Reviewer 3 Report

Overall, this article is well written and comprehensive. 

1. The abstract is fine but required careful checking and proof read. 

2. Please mention all the abbreviation appear for the first time in full term such as DOF, DH, and etc.

3. The literature review is sufficient where author has pointed out the current progress of the industrial motor positioning control system. Some problem statements have been clearly mentioned. 

4. The main problem with the robot positioning issues are due to the repetitive operations versus time. In this article, the author has successfully improve the orientation accuracy from  orientation error from 1.46E-02rad to 1.31E-04rad. However, as mentioned, the accuracy may change versus time, under this situation, author could recommend a good recovery system such that the performance of the industrial robot can be maintained. 

English is fine with some minor grammatical errors. Please check carefully before the paper can be accepted for publicaiton.

Author Response

Please see the attachment.

Author Response File: Author Response.pdf