Kooperativer Bibliotheksverbund

UID:

Format: XII, 241 p. 162 illus., 110 illus. in color. , online resource.

Edition: 1st ed. 2023.

ISBN: 9789811961687

Content: This book highlights the basic theories and key technologies of error compensation for industrial robots. The chapters are arranged in the order of actual applications: establishing the robot kinematic models, conducting error analysis, conducting kinematic and non-kinematic calibrations, and planning optimal sampling points. To help readers effectively apply the technologies, the book elaborates the experiments and applications in robotic drilling and milling, which further verifies the effectiveness of the technologies. This book presents the authors' research achievements in the past decade in improving robot accuracy. It is straightforwardly applicable for technical personnel in the aviation field, and provides valuable reference for researchers and engineers in various robotic applications.

Note: Part 1 Theories -- Chapter 1 Introduction -- Chapter 2 Kinematic modeling -- Chapter 3 Positioning error compensation using kinematic calibration -- Chapter 4 Error-similarity-based positioning error compensation -- Chapter 5 Joint space closed-loop feedback -- Chapter 6 Cartesian space closed-loop feedback -- Part 2 Chapter 7 Applications in robotic drilling -- Chapter 8 Applications in robotic milling.

In: Springer Nature eBook

Additional Edition: Printed edition: ISBN 9789811961670

Additional Edition: Printed edition: ISBN 9789811961694

Additional Edition: Printed edition: ISBN 9789811961700

Language: English

DOI: 10.1007/978-981-19-6168-7

URL: https://doi.org/10.1007/978-981-19-6168-7

URL: Volltext  (URL des Erstveröffentlichers)

UID:

Format: 1 Online-Ressource (XVI, 307 p. 193 illus).

ISBN: 978-7-04-047514-2 , 978-981-10-3515-9

Additional Edition: Erscheint auch als Druck-Ausgabe ISBN 978-981-10-3514-2

Language: English

DOI: 10.1007/978-981-10-3515-9

URL: Volltext  (URL des Erstveröffentlichers)

URL: Volltext  (URL des Erstveröffentlichers)

UID:

Format: 1 Online-Ressource (XVI, 307 p. 193 illus).

ISBN: 978-7-04-047514-2 , 978-981-10-3515-9

Additional Edition: Erscheint auch als Druck-Ausgabe ISBN 978-981-10-3514-2

Language: English

DOI: 10.1007/978-981-10-3515-9

URL: Volltext  (URL des Erstveröffentlichers)

UID:

Format: 1 online resource (247 pages)

ISBN: 981-19-6168-9

Note: Intro -- Preface -- Acknowledgements -- Contents -- Part I Theories -- 1 Introduction -- 1.1 Background -- 1.2 What is Robot Accuracy -- 1.3 Why Error Compensation -- 1.4 Early Investigations and Insights -- 1.4.1 Offline Calibration -- 1.4.2 Online Feedback -- 1.5 Summary -- References -- 2 Kinematic Modeling -- 2.1 Introduction -- 2.2 Pose Description and Transformation -- 2.2.1 Descriptions of Position and Posture -- 2.2.2 Translation and Rotation -- 2.3 RPY Angle and Euler Angle -- 2.4 Forward Kinematics -- 2.4.1 Link Description and Link Frame -- 2.4.2 Link Transformation and Forward Kinematic Model -- 2.4.3 Forward Kinematic Model of a Typical KUKA Industrial Robot -- 2.5 Inverse Kinematics -- 2.5.1 Uniquely Closed Solution with Joint Constraints -- 2.5.2 Inverse Kinematic Model of a Typical KUKA Industrial Robot -- 2.6 Error Modeling -- 2.6.1 Differential Transformation -- 2.6.2 Differential Transformation of Consecutive Links -- 2.6.3 Kinematics Error Model -- 2.7 Summary -- References -- 3 Positioning Error Compensation Using Kinematic Calibration -- 3.1 Introduction -- 3.2 Observability-Index-Based Random Sampling Method -- 3.2.1 Observability Index of Robot Kinematic Parameters -- 3.2.2 Selection Method of the Sample Points -- 3.3 Uniform-Grid-Based Sampling Method -- 3.3.1 Optimal Grid Size -- 3.3.2 Sampling Point Planning Method -- 3.4 Kinematic Calibration Considering Robot Flexibility Error -- 3.4.1 Robot Flexibility Analysis -- 3.4.2 Establishment of Robot Flexibility Error Model -- 3.4.3 Robot Kinematic Error Model with Flexibility Error -- 3.5 Kinematic Calibration Using Variable Parametric Error -- 3.6 Parameter Identification Using L-M Algorithm -- 3.7 Verification of Error Compensation Performance -- 3.7.1 Kinematic Calibration with Robot Flexibility Error -- 3.7.2 Error Compensation Using Variable Parametric Error. , 3.8 Summary -- References -- 4 Error-Similarity-Based Positioning Error Compensation -- 4.1 Introduction -- 4.2 Similarity of Robot Positioning Error -- 4.2.1 Qualitative Analysis of Error Similarity -- 4.2.2 Quantitative Analysis of Error Similarity -- 4.2.3 Numerical Simulation and Discussion -- 4.3 Error Compensation Based on Inverse Distance Weighting and Error Similarity -- 4.3.1 Inverse Distance Weighting Interpolation Method -- 4.3.2 Error Compensation Method Combined IDW with Error Similarity -- 4.3.3 Numerical Simulation and Discussion -- 4.4 Error Compensation Based on Linear Unbiased Optimal Estimation and Error Similarity -- 4.4.1 Robot Positioning Error Mapping Based on Error Similarity -- 4.4.2 Linear Unbiased Optimal Estimation of Robot Positioning Error -- 4.4.3 Numerical Simulation and Discussion -- 4.4.4 Error Compensation -- 4.5 Optimal Sampling Based on Error Similarity -- 4.5.1 Mathematical Model of Optimal Sampling Points -- 4.5.2 Multi-Objective Optimization and Non-Inferior Solution -- 4.5.3 Genetic Algorithm and NSGA-II -- 4.5.4 Multi-objective Optimization of Optimal Sampling Points of Robots Based on NSGA-II -- 4.6 Experimental Verification -- 4.6.1 Experimental Platform -- 4.6.2 Experimental Verification of the Positioning Error Similarity -- 4.6.3 Experimental Verification of Error Compensation Based on Inverse Distance Weighting and Error Similarity -- 4.6.4 Experimental Verification of Error Compensation Based on Linear Unbiased Optimal Estimation and Error Similarity -- 4.7 Summary -- References -- 5 Joint Space Closed-Loop Feedback -- 5.1 Introduction -- 5.2 Positioning Error Estimation -- 5.2.1 Error Estimation Model of Chebyshev Polynomial -- 5.2.2 Identification of Chebyshev Coefficients -- 5.2.3 Mapping Model -- 5.3 Effect of Joint Backlash on Positioning Error -- 5.3.1 Variation Law of the Joint Backlash. , 5.3.2 Multi-directional Positioning Accuracy Variation -- 5.4 Error Compensation Using Feedforward and Feedback Loops -- 5.5 Experimental Verification and Analysis -- 5.5.1 Experimental Setup -- 5.5.2 Error Estimation Experiment -- 5.5.3 Error Compensation Experiment -- 5.6 Summary -- References -- 6 Cartesian Space Closed-Loop Feedback -- 6.1 Introduction -- 6.2 Pose Measurement Using Binocular Vision Sensor -- 6.2.1 Description of Frame -- 6.2.2 Pose Measurement Principle Based on Binocular Vision -- 6.2.3 Influence of the Frame FE on Measurement Accuracy -- 6.2.4 Pose Estimation Using Kalman Filtering -- 6.3 Vision-Guided Control System -- 6.4 Experimental Verification -- 6.4.1 Experimental Platform -- 6.4.2 Kalman-Filtering-Based Estimation -- 6.4.3 No-Load Experiment -- 6.5 Summary -- References -- Part II Applications -- 7 Applications in Robotic Drilling -- 7.1 Introduction -- 7.2 Robotic Drilling System -- 7.2.1 Hardware -- 7.2.2 Software -- 7.3 Establishment of Frames -- 7.3.1 World Frame -- 7.3.2 Robot Base Frame -- 7.3.3 Robot Flange Frame -- 7.3.4 Tool Frame -- 7.3.5 Product Frame -- 7.3.6 Transformation of Frames -- 7.4 Drilling Applications -- 7.4.1 Error-Similarity-Based Error Compensation -- 7.4.2 Joint Space Closed-Loop Feedback -- 7.4.3 Cartesian Space Closed-Loop Feedback -- 7.5 Summary -- 8 Applications in Robotic Milling -- 8.1 Introduction -- 8.2 Robotic Milling System -- 8.3 Milling on Aluminum Alloy Part -- 8.3.1 Line Milling -- 8.3.2 Arc Milling -- 8.4 Milling on Cylinder Head for Car Engine -- 8.4.1 Line Milling -- 8.4.2 Plane Milling -- 8.5 Edge Milling on Composite Shell -- 8.6 Summary.

Additional Edition: Print version: Liao, Wenhe Error Compensation for Industrial Robots Singapore : Springer,c2023 ISBN 9789811961670

Language: English