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An optimization technique for identifying robot manipulator parameters under uncertainty.

Kuan-Lin Li1, Wu-Te Yang1, Kuei-Yuan Chan1

  • 1Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan.

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Summary
This summary is machine-generated.

This study improves robot manipulator accuracy by creating a calibration table to adjust kinematic models, reducing reliance on costly sensors and calibration processes for better automation.

Keywords:
Geometric toleranceOptimizationRobot manipulatorTrajectory planningUncertainties

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Area of Science:

  • Robotics
  • Automation Engineering
  • Mechanical Engineering

Background:

  • Robot manipulators are crucial for factory automation of repetitive tasks.
  • Current error reduction methods rely on expensive sensors and feedback control.
  • Path-specific errors in robot manipulation under uncertainty remain a challenge.

Purpose of the Study:

  • To improve the accuracy of practical robot manipulation under uncertainty.
  • To develop a cost-effective method for reducing path-specific errors.
  • To reduce dependence on high-precision sensors and complex calibration processes.

Main Methods:

  • Designed a calibration table to determine path-specific error values.
  • Utilized optimization techniques to adjust kinematic closed-chain model parameters using the error table.
  • Focused on error compensation through model adjustment rather than operational feedback control.

Main Results:

  • Demonstrated improved overall accuracy of the robot manipulator.
  • The proposed method offers a reduced cost and less dependence on calibration.
  • Successfully adjusted kinematic model parameters via optimization based on the calibration table.

Conclusions:

  • The developed calibration table method effectively enhances robot manipulator accuracy.
  • This approach provides a more economical and less sensor-dependent solution for robot calibration.
  • Future work can extend this method to optimal robotic manipulation planning and reliability assessment.