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A four-point measurement model for evaluating the pose of industrial robot and its influence factor analysis

Chuangui Yang (Institute of Machinery Manufacturing Technology, China Academy of Engineering Physics, Mianyang, China, and National Machine Tool Production Quality Supervision Testing Center, Mianyang, China)
Junwen Wang (Institute of Machinery Manufacturing Technology, China Academy of Engineering Physics, Mianyang, China, and National Machine Tool Production Quality Supervision Testing Center, Mianyang, China)
Liang Mi (Institute of Machinery Manufacturing Technology, China Academy of Engineering Physics, Mianyang, China, and National Machine Tool Production Quality Supervision Testing Center, Mianyang, China)
Xingbao Liu (Institute of Machinery Manufacturing Technology, China Academy of Engineering Physics, Mianyang, China, and National Machine Tool Production Quality Supervision Testing Center, Mianyang, China)
Yangqiu Xia (Institute of Machinery Manufacturing Technology, China Academy of Engineering Physics, Mianyang, China, and National Machine Tool Production Quality Supervision Testing Center, Mianyang, China)
Yilei Li (Institute of Machinery Manufacturing Technology, China Academy of Engineering Physics, Mianyang, China, and National Machine Tool Production Quality Supervision Testing Center, Mianyang, China)
Shaoxing Ma (Institute of Machinery Manufacturing Technology, China Academy of Engineering Physics, Mianyang, China, and National Machine Tool Production Quality Supervision Testing Center, Mianyang, China)
Qiang Teng (Institute of Machinery Manufacturing Technology, China Academy of Engineering Physics, Mianyang, China, and National Machine Tool Production Quality Supervision Testing Center, Mianyang, China)

Industrial Robot

ISSN: 0143-991x

Publication date: 15 May 2017

Abstract

Purpose

This paper aims to propose a four-point measurement model for directly measuring the pose (i.e. position and orientation) of industrial robot and reducing its calculating error and measurement uncertainty.

Design/methodology/approach

A four-point measurement model is proposed for directly measuring poses of industrial robots. First, this model consists of a position measurement model and an orientation model gotten by the position of spherically mounted reflector (SMR). Second, an influence factor analysis, simulated by Monte Carlo simulation, is performed to investigate the influence of certain factors on the accuracy and uncertainty. Third, comparisons with the common method are carried out to verify the advantage of this model. Finally, a test is carried out for evaluating the repeatability of five poses of an industrial robot.

Findings

In this paper, results show that the proposed model is better than the three-SMRs model in measurement accuracy, measurement uncertainty and computational efficiency. Moreover, both measurement accuracy and measurement uncertainty can be improved by using the proposed influence laws of its key parameters on the proposed model.

Originality/value

The proposed model can measure poses of industrial robots directly, accurately and effectively. Additionally, influence laws of key factors on the accuracy and uncertainty of the proposed model are given to provide some guidelines for improving the performance of the proposed model.

Keywords

Acknowledgements

This work was supported by the demonstration project (2016GFW015) of science and technology service industry in Sichuan Province, Sichuan Science and Technology Support Program (2014GZ0119), Programs (K855, K856) in Laboratory of Ultra precision Manufacturing technology CAEP.

Citation

Yang, C., Wang, J., Mi, L., Liu, X., Xia, Y., Li, Y., Ma, S. and Teng, Q. (2017), "A four-point measurement model for evaluating the pose of industrial robot and its influence factor analysis", Industrial Robot, Vol. 44 No. 3, pp. 343-352. https://doi.org/10.1108/IR-08-2016-0208

Publisher

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Emerald Publishing Limited

Copyright © 2017, Emerald Publishing Limited