NDLI: A sensor-based approach for error compensation of industrial robotic workcells

Content Provider	IEEE Xplore Digital Library
Author	Pey Yuen Tao Guilin Yang Tomizuka, M.
Copyright Year	2012
Description	Author affiliation: Department of Mechanical Engineering, University of California at Berkeley, 94720, USA (Tomizuka, M.) \|\| Mechatronics Group, Singapore Institute of Manufacturing Technology, Agency for Science, Technology & Research, 71 Nanyang Drive, Singapore 638075 (Pey Yuen Tao; Guilin Yang)
Abstract	Industrial robotic manipulators have excellent repeatability while accuracy is significantly poorer. Numerous error sources in the robotic workcell contributes to the accuracy problem. Modeling and identification of all the errors to achieve the required levels of accuracy may be difficult. To resolve the accuracy issues, a sensor based indirect error compensation approach is proposed in this paper where the errors are compensated online via measurements of the work object. The sensor captures a point cloud of the work object and with the CAD model of the work object, the actual relative pose of the sensor frame and work object frame can be established via a point cloud registration. Once this relationship has been established, the robot will be able to move the tool accurately relative to the work object frame near the point of compensation. A data pre-processing technique is proposed to reduce computation time and prevent a local minima solution during point cloud registration. A simulation study is presented to illustrate the effectiveness of the proposed solution.
Starting Page	5240
Ending Page	5245
File Size	748564
Page Count	6
File Format	PDF
ISBN	9781467314039
ISSN	10504729
e-ISBN	9781467314053
e-ISBN	9781467314046
DOI	10.1109/ICRA.2012.6224743
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-05-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Accuracy Computational modeling Surface treatment Service robots Manipulators
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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