Calibration methods of industrial robots

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dc.citation.epage41
dc.citation.issue1
dc.citation.journalTitleВимірювальна техніка та метрологія
dc.citation.spage35
dc.contributor.affiliationLviv Politechnic National University
dc.contributor.affiliationPolytechnika Bialostocka
dc.contributor.authorPytel, Ivan
dc.contributor.authorVasylyk, Maksym
dc.contributor.authorMakal, Jaroslaw
dc.coverage.placenameЛьвів
dc.coverage.placenameLviv
dc.date.accessioned2025-03-13T07:53:57Z
dc.date.created2024-02-27
dc.date.issued2024-02-27
dc.description.abstractRobotization is one of the crucial directions of modernizing today's industrial production. Robotic systems offer solutions to many different challenges. However, their implementation is constrained by limited accuracy, which is inferior to conventional machine tools. A way to improve industrial robots' accuracy is to calibrate them, i.e., eliminate factors that affect accuracy by refining the mathematical models for software correction of manufacturing and assembly errors, as well as elastic and thermal deformations.
dc.format.extent35-41
dc.format.pages7
dc.identifier.citationPytel I. Calibration methods of industrial robots / Pytel Ivan, Vasylyk Maksym, Makal Jaroslaw // Measuring Equipment and Metrology. — Lviv : Lviv Politechnic Publishing House, 2024. — Vol 85. — No 1. — P. 35–41.
dc.identifier.citationenPytel I. Calibration methods of industrial robots / Pytel Ivan, Vasylyk Maksym, Makal Jaroslaw // Measuring Equipment and Metrology. — Lviv : Lviv Politechnic Publishing House, 2024. — Vol 85. — No 1. — P. 35–41.
dc.identifier.doidoi.org/10.23939/istcmtm2024.01.035
dc.identifier.urihttps://ena.lpnu.ua/handle/ntb/64134
dc.language.isoen
dc.publisherВидавництво Львівської політехніки
dc.publisherLviv Politechnic Publishing House
dc.relation.ispartofВимірювальна техніка та метрологія, 1 (85), 2024
dc.relation.ispartofMeasuring Equipment and Metrology, 1 (85), 2024
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dc.relation.references[4] Elatta, A. Y.; Gen, L. P.; Zhi, F. L.; Daoyuan Y. & Fei, L., “An Overview of Robot Calibration”, Information Technology Journal, Vol. 3, No. 1, 2004, pp. 74–78, ISSN 1682-6027. https://www.researchgate.net/profile/Bahram-Ravani/publication/224729865_An_Overview_of_Robot_Calibration/links/54b803df0cf28faced61c61d/An-Overview-of-Robot-Calibration.pdf
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dc.relation.references[7] DELMIA Corporation. IGRIP Documentation. Auburn Hills, Mich.: DELMIA Corporation, 2003. www.delmia.com
dc.relation.references[8] Morris R. Driels and Uday S. Pathre, “Robot Calibration Using an Automatic Theodolite”, Department of Mechanical Engineering, Naval Postgraduate School, Monterey, CA 93943, USA and Deneb Robotics, 1120 E. Long Lake Road, Suite 200, Troy, MI 48098-4960, USA. https://link.springer.com/article/10.1007/BF01750418
dc.relation.references[9] D. Yang, J. Illingworth, “Calibrating a Robot Camera”, Department of Electronics and Electrical Engineering, University of Surrey, Guildford. GU2 5XH. https://www.academia.edu/78662990/Calibrating_a_Robot_
dc.relation.references[10] M. Abderrahim, A. Khamis, S. Garrido, L. Moreno, “Accuracy and Calibration Issues of Industrial Man ipulators”, University Carlos III of Madrid, Spain, December 2006, DOI: 10.5772/4895. In book: Industrial Robotics: Programming, Simulation and Applications. https://www.researchgate.netpublication/221785929_Accuracy_and_Calibration_Issues_of_Industrial_Manipulators
dc.relation.references[11] K. Kaltsoukalas, S. Makris, G. Chryssolouris, “On generating the motion of industrial robot manipulators”, Robotics and Computer-Integrated Manufacturing, Vol. 32, April 2015, pp. 65–71.
dc.relation.references[12] https://www.sciencedirect.com/science/article/abs/pii/S0736584514000891
dc.relation.references[13] Giovanni Legnani, Monica Tiboni, “Optimal design and application of a low-cost wire-sensor system for the kinematic calibration of industrial manipulators”, March 2014, Mechanism and Machine Theory, 73:25–48 DOI: 10.1016/j.mechmachtheory.2013.09.005.
dc.relation.references[14] Guanglong Du, Ping Zhang, “Online robot calibration based on vision measurement”, Robotics and Computer Integrated Manufacturing, Vol. 29, Iss. 6, December 2013, pp. 484–492. DOI: 10.1016/j.rcim.2013.05.003.
dc.relation.references[15] Yuanfan Zeng, Wei Tian, “Positional error similarity analysis for error compensation of industrial robots”, May 2016, Robotics and Computer-Integrated Manufacturing, 42(4):113–120. DOI:10.1016/j.rcim.2016.05.011.
dc.relation.references[16] Marwan Ali, Milan Simic, Fadi Imad, “Calibration method for articulated industrial robots”, International Conference on Knowledge Based and Intelligent Information and Engineering System, KES2017, 6–8 September 2017, Marseille, France.
dc.relation.references[17] Guanglong Du, Ping Zhang, Di Li, “Online robot calibration based on hybrid sensors using Kalman Filters”, Robotics and Computer-Integrated Manufacturing, Vol. 31, February 2015, pp. 91–100.
dc.relation.references[18] Guanglong Du, Hengkang Shao, Yanjiao Chen, Ping Zhang, Xin Liu, “An online method for serial robot self calibration with CMAC and UKF”, Robotics and Computer-Integrated Manufacturing, Vol. 42, 2016, pp. 39–48.
dc.relation.references[19] Zhen Chen, Liang Zhuo, Kaiqiong Sun, and Congxuan Zhang, “Extrinsic Calibration of a Camera and a Laser Range Finder using Point to Line Constraint”, Procedia Engineering, 29 (2012), 4348–4352.
dc.relation.references[20] Stefan Gadringer, Hubert Gattringer, Andreas Müller, Ronald Naderer, “Robot Calibration combining Kinematic Model and Neural Network for enhanced Positioning and Orientation Accuracy”, IFAC-Papers OnLine, Vol. 53, Issue 2, 2020, pp. 8432–8437.
dc.relation.references[21] Mathanraj Sharma, “Introduction to Robotic Control Systems”. https://towardsdatascience.com/introduction-torobotic-control-systems-9ec17c8ac24f
dc.relation.references[22] Heinz Unbehauen, “Сontrol systems, robotics, and automation”, Control systems, robotics, and automation, Vol. I – Control Systems, Robotics, and Automation, Heinz Unbehauen, Ruhr University Bochum, Germany.
dc.relation.references[23] Nise, N. S. “Control Systems Engineering”, New York, John Wiley. This textbook introduces the theory and practice of control systems engineering, 2000, 970 p.
dc.relation.references[24] Samad, T. (ed.) “Perspectives in Control Engineering”, New York, Institute of Electrical and Electronic Engineers. [This book provides a broad review of the state-of-art in control science and engineering, with particular emphasis on new research and application directions], 2001, 503 p.
dc.relation.referencesen[1] EN ISO 9283 International standard Manipulating industrial robots – Performance criteria and related test methods/1998-04-01 [Online]. Available: https://standards.iteh.ai/catalog/standards/cen/bd6e0b51df41-44c2-806ffbd0f53f30de/en-iso-9283-1998
dc.relation.referencesen[2] Karan B., Vukobratovic M., Calibration and Accuracy of Manipulation Robot Models, April 1994, Mechanism and Machine Theory, 29(3):479–500. DOI: 10.1016/0094-114X(94)90130-9
dc.relation.referencesen[3] Kokoshko O., Pytel I. "Analysis of influencing factors on the repeatability of robotic systems" III international student scientific conference "Globalization of scientific knowledge: international cooperation and integration of fields of sciences", ISBN: 978-617-8037-87-1. DOI: 10/36074/liga-inter-23/09/2022, c. Dnipro, 108–111.
dc.relation.referencesen[4] Elatta, A. Y.; Gen, L. P.; Zhi, F. L.; Daoyuan Y. & Fei, L., "An Overview of Robot Calibration", Information Technology Journal, Vol. 3, No. 1, 2004, pp. 74–78, ISSN 1682-6027. https://www.researchgate.net/profile/Bahram-Ravani/publication/224729865_An_Overview_of_Robot_Calibration/links/54b803df0cf28faced61c61d/An-Overview-of-Robot-Calibration.pdf
dc.relation.referencesen[5] Pathre U. S., Driels M. R., "Simulation experiments in parameter identification for robot calibration", Int. J. Adv. Manuf. Technol., Vol. 5, 1999, pp. 13–33. http://publications.rwth-aachen.de/record/728622/files/ 728622.pdf
dc.relation.referencesen[6] Martinelli A, Tomatis N, Tapus A, et al., "Simultaneous localization and odometry calibration for mobile robot", In: Proceedings 2003 IEEE/RSJ international conference on intelligent robots and systems (IROS 2003) (Cat. No. 03CH37453), Las Vegas, NV, 27–31 October 2003, pp. 1499–1504. New York: IEEE. https://www.researchgate.net/profile/Nicola-Tomatis/publication/220474373_Simultaneous_localization_and_odometry_self_calibration_for_mobile_robot/links/00b7d520e2d2aed917000000/Simultaneous-localization-andodometry-self-calibration-for-mobile-robot.pdf
dc.relation.referencesen[7] DELMIA Corporation. IGRIP Documentation. Auburn Hills, Mich., DELMIA Corporation, 2003. www.delmia.com
dc.relation.referencesen[8] Morris R. Driels and Uday S. Pathre, "Robot Calibration Using an Automatic Theodolite", Department of Mechanical Engineering, Naval Postgraduate School, Monterey, CA 93943, USA and Deneb Robotics, 1120 E. Long Lake Road, Suite 200, Troy, MI 48098-4960, USA. https://link.springer.com/article/10.1007/BF01750418
dc.relation.referencesen[9] D. Yang, J. Illingworth, "Calibrating a Robot Camera", Department of Electronics and Electrical Engineering, University of Surrey, Guildford. GU2 5XH. https://www.academia.edu/78662990/Calibrating_a_Robot_
dc.relation.referencesen[10] M. Abderrahim, A. Khamis, S. Garrido, L. Moreno, "Accuracy and Calibration Issues of Industrial Man ipulators", University Carlos III of Madrid, Spain, December 2006, DOI: 10.5772/4895. In book: Industrial Robotics: Programming, Simulation and Applications. https://www.researchgate.netpublication/221785929_Accuracy_and_Calibration_Issues_of_Industrial_Manipulators
dc.relation.referencesen[11] K. Kaltsoukalas, S. Makris, G. Chryssolouris, "On generating the motion of industrial robot manipulators", Robotics and Computer-Integrated Manufacturing, Vol. 32, April 2015, pp. 65–71.
dc.relation.referencesen[12] https://www.sciencedirect.com/science/article/abs/pii/S0736584514000891
dc.relation.referencesen[13] Giovanni Legnani, Monica Tiboni, "Optimal design and application of a low-cost wire-sensor system for the kinematic calibration of industrial manipulators", March 2014, Mechanism and Machine Theory, 73:25–48 DOI: 10.1016/j.mechmachtheory.2013.09.005.
dc.relation.referencesen[14] Guanglong Du, Ping Zhang, "Online robot calibration based on vision measurement", Robotics and Computer Integrated Manufacturing, Vol. 29, Iss. 6, December 2013, pp. 484–492. DOI: 10.1016/j.rcim.2013.05.003.
dc.relation.referencesen[15] Yuanfan Zeng, Wei Tian, "Positional error similarity analysis for error compensation of industrial robots", May 2016, Robotics and Computer-Integrated Manufacturing, 42(4):113–120. DOI:10.1016/j.rcim.2016.05.011.
dc.relation.referencesen[16] Marwan Ali, Milan Simic, Fadi Imad, "Calibration method for articulated industrial robots", International Conference on Knowledge Based and Intelligent Information and Engineering System, KES2017, 6–8 September 2017, Marseille, France.
dc.relation.referencesen[17] Guanglong Du, Ping Zhang, Di Li, "Online robot calibration based on hybrid sensors using Kalman Filters", Robotics and Computer-Integrated Manufacturing, Vol. 31, February 2015, pp. 91–100.
dc.relation.referencesen[18] Guanglong Du, Hengkang Shao, Yanjiao Chen, Ping Zhang, Xin Liu, "An online method for serial robot self calibration with CMAC and UKF", Robotics and Computer-Integrated Manufacturing, Vol. 42, 2016, pp. 39–48.
dc.relation.referencesen[19] Zhen Chen, Liang Zhuo, Kaiqiong Sun, and Congxuan Zhang, "Extrinsic Calibration of a Camera and a Laser Range Finder using Point to Line Constraint", Procedia Engineering, 29 (2012), 4348–4352.
dc.relation.referencesen[20] Stefan Gadringer, Hubert Gattringer, Andreas Müller, Ronald Naderer, "Robot Calibration combining Kinematic Model and Neural Network for enhanced Positioning and Orientation Accuracy", IFAC-Papers OnLine, Vol. 53, Issue 2, 2020, pp. 8432–8437.
dc.relation.referencesen[21] Mathanraj Sharma, "Introduction to Robotic Control Systems". https://towardsdatascience.com/introduction-torobotic-control-systems-9ec17c8ac24f
dc.relation.referencesen[22] Heinz Unbehauen, "Sontrol systems, robotics, and automation", Control systems, robotics, and automation, Vol. I – Control Systems, Robotics, and Automation, Heinz Unbehauen, Ruhr University Bochum, Germany.
dc.relation.referencesen[23] Nise, N. S. "Control Systems Engineering", New York, John Wiley. This textbook introduces the theory and practice of control systems engineering, 2000, 970 p.
dc.relation.referencesen[24] Samad, T. (ed.) "Perspectives in Control Engineering", New York, Institute of Electrical and Electronic Engineers. [This book provides a broad review of the state-of-art in control science and engineering, with particular emphasis on new research and application directions], 2001, 503 p.
dc.relation.urihttps://standards.iteh.ai/catalog/standards/cen/bd6e0b51df41-44c2-806ffbd0f53f30de/en-iso-9283-1998
dc.relation.urihttps://www.researchgate.net/profile/Bahram-Ravani/publication/224729865_An_Overview_of_Robot_Calibration/links/54b803df0cf28faced61c61d/An-Overview-of-Robot-Calibration.pdf
dc.relation.urihttp://publications.rwth-aachen.de/record/728622/files/
dc.relation.urihttps://www.researchgate.net/profile/Nicola-Tomatis/publication/220474373_Simultaneous_localization_and_odometry_self_calibration_for_mobile_robot/links/00b7d520e2d2aed917000000/Simultaneous-localization-andodometry-self-calibration-for-mobile-robot.pdf
dc.relation.urihttps://link.springer.com/article/10.1007/BF01750418
dc.relation.urihttps://www.academia.edu/78662990/Calibrating_a_Robot_
dc.relation.urihttps://www.researchgate.netpublication/221785929_Accuracy_and_Calibration_Issues_of_Industrial_Manipulators
dc.relation.urihttps://www.sciencedirect.com/science/article/abs/pii/S0736584514000891
dc.relation.urihttps://towardsdatascience.com/introduction-torobotic-control-systems-9ec17c8ac24f
dc.rights.holder© Національний університет “Львівська політехніка”, 2024
dc.subjectrobotics
dc.subjectaccuracy
dc.subjectcalibration
dc.subjectmetrology
dc.subjectmodeling
dc.titleCalibration methods of industrial robots
dc.typeArticle

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Вимірювальна техніка та метрологія. – 2024. – Випуск 85, №1