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Simultaneous identification of joint stiffness, kinematic and hand-eye parameters of measurement system integrated with serial robot and 3D camera

Jinlei Zhuang (State Key Laboratory of Robotics and System, Harbin Institute of Technology, Shenzhen, China and HIT Wuhu Robot Technology Research Institute, Wuhu, China)
Ruifeng Li (State Key Laboratory of Robotics and System, Harbin Institute of Technology, Shenzhen, China)
Chuqing Cao (Hit Wuhu Robot Technology Research Institute, Wuhu, China)
Yunfeng Gao (State Key Laboratory of Robotics and System, Harbin Institute of Technology, Shenzhen, China)
Ke Wang (Harbin Institute of Technology, Shenzhen, China)
Feiyang Wang (HIT Wuhu Robot Technology Research Institute, Wuhu, China)

Industrial Robot

ISSN: 0143-991x

Article publication date: 9 April 2021

Issue publication date: 19 August 2021

244

Abstract

Purpose

This paper aims to propose a measurement principle and a calibration method of measurement system integrated with serial robot and 3D camera to identify its parameters conveniently and achieve high measurement accuracy.

Design/methodology/approach

A stiffness and kinematic measurement principle of the integrated system is proposed, which considers the influence of robot weight and load weight on measurement accuracy. Then an error model is derived based on the principle that the coordinate of sphere center is invariant, which can simultaneously identify the parameters of joint stiffness, kinematic and hand-eye relationship. Further, considering the errors of the parameters to be calibrated and the measurement error of 3D camera, a method to generate calibration observation data is proposed to validate both calibration accuracy and parameter identification accuracy of calibration method.

Findings

Comparative simulations and experiments of conventional kinematic calibration method and the stiffness and kinematic calibration method proposed in this paper are conducted. The results of the simulations show that the proposed method is more accurate, and the identified values of angle parameters in modified Denavit and Hartenberg model are closer to their real values. Compared with the conventional calibration method in experiments, the proposed method decreases the maximum and mean errors by 19.9% and 13.4%, respectively.

Originality/value

A new measurement principle and a novel calibration method are proposed. The proposed method can simultaneously identify joint stiffness, kinematic and hand-eye parameters and obtain not only higher measurement accuracy but also higher parameter identification accuracy, which is suitable for on-site calibration.

Keywords

Citation

Zhuang, J., Li, R., Cao, C., Gao, Y., Wang, K. and Wang, F. (2021), "Simultaneous identification of joint stiffness, kinematic and hand-eye parameters of measurement system integrated with serial robot and 3D camera", Industrial Robot, Vol. 48 No. 4, pp. 484-493. https://doi.org/10.1108/IR-07-2020-0144

Publisher

:

Emerald Publishing Limited

Copyright © 2021, Emerald Publishing Limited

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