Skip to Main Content
 

Global Search Box

 
 
 

ETD Abstract Container

Abstract Header

Computationally Efficient and Robust Kinematic Calibration Methodologies and their Application to Industrial Robots

Messay-Kebede, Temesguen
http://rave.ohiolink.edu/etdc/view?acc_num=dayton1418974125

Abstract Details

2014, Doctor of Philosophy (Ph.D.), University of Dayton, Electrical Engineering.
Robot kinematic calibration is the process of enhancing the positioning accuracy of a given manipulator and must be performed after robot manufacture and assembly or during periodical maintenance. This dissertation presents new computationally efficient and robust kinematic calibration algorithms for industrial robots that make use of partial measurements. These include a calibration method that requires the supply of Cartesian coordinates of the calibration points (3DCAL) and another calibration technique that only requires the radial measurements from the calibration points to some reference (1DCAL). Neither method requires orientation measurements nor the explicit knowledge of the where-about of a reference frame. Contrary to most other similar works, both methods make use of a simplified version of the original Denavit-Hartenberg (DH) kinematic model. The simplified DH(-) model has not only proven to be robust and effective in calibrating industrial manipulators but it is also favored from a computational efficiency viewpoint since it consists of comparatively fewer error parameters. We present a conceptual approach to develop a set of guidelines that need to be considered in order to properly construct the DH(-) model such that it is parameterically continuous and non-redundant. We also propose an automated method to provide a characterization of the parameters that can be insightful in identifying redundant/irrelevant parameters and deducing the DH(-) error model of a manipulator. The method is a hybrid scheme comprised of the Simulated Annealing (SA) algorithm and a local solver/optimizer and it conducts a statistical analysis on the estimates of a given error parameter that is indicative of its relevance. For the type of industrial robots used in this dissertation, we made note that calibrating the home position only is sufficient to attain adequate results for most robotics applications. Hence, we put forward for consideration of a yet simpler calibration model; the DH(-)(-) model. We employ the Trust Region (TR) method to minimize the objective functions (solve for the error parameters of the simplified error models) of both frameworks (3DCAL and 1DCAL). We also compare the performance of the proposed methods to that of a state-of-the-art commercial system (Motocal) using the same materials, data and internationally recognized performance standards. Our experimental results suggest that our methods are more robust and yield better results compared to that of MotoCal.
Raul Ordonez, Ph.D. (Committee Chair)
Russell Hardie, Ph.D. (Committee Member)
John Loomis, Ph.D. (Committee Member)
Ruihua Liu, Ph.D. (Committee Member)
108 p.
Engineering; Robotics
Kinematic Calibration; Optimization; Simulated Annealing; Trust Region; CompuGauge; MotoCal; Industrial Robots; Yaskawa Motoman Robotics Inc

Recommended Citations

Citations

  • Messay-Kebede, T. (2014). Computationally Efficient and Robust Kinematic Calibration Methodologies and their Application to Industrial Robots [Doctoral dissertation, University of Dayton]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=dayton1418974125

    APA Style (7th edition)

  • Messay-Kebede, Temesguen. Computationally Efficient and Robust Kinematic Calibration Methodologies and their Application to Industrial Robots. 2014. University of Dayton, Doctoral dissertation. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=dayton1418974125.

    MLA Style (8th edition)

  • Messay-Kebede, Temesguen. "Computationally Efficient and Robust Kinematic Calibration Methodologies and their Application to Industrial Robots." Doctoral dissertation, University of Dayton, 2014. http://rave.ohiolink.edu/etdc/view?acc_num=dayton1418974125

    Chicago Manual of Style (17th edition)

dayton1418974125
1,962
© 2014, all rights reserved.
This open access ETD is published by University of Dayton and OhioLINK.