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Efficiently Improving and Quantifying Robot Accuracy In Situ.

Karl Van Wyk1, Joe Falco1, Geraldine Cheok1

  • 1National Institute of Standards and Technology, Gaithersburg, MD, USA.

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Summary
This summary is machine-generated.

This study introduces an automated, portable robot calibration method to enhance positional accuracy. The new technique significantly improves robot positioning accuracy, making robots more reliable for industrial automation.

Keywords:
calibrationoptimization methodsrobot kinematics

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Area of Science:

  • Robotics
  • Automation Engineering
  • Metrology

Background:

  • Robotic arms require high positional accuracy for advanced applications like simulation-assisted programming and high-tolerance assembly.
  • Despite careful design and assembly, robotic arms often have positioning errors of several millimeters.
  • Calibration of joint "zero-offsets" is crucial for correcting these errors in software.

Purpose of the Study:

  • To develop an automated, inexpensive, and portable in situ calibration method for robotic arms.
  • To improve the positional accuracy of robotic arms through fine-tuning kinematic parameters.
  • To validate the effectiveness of the developed method using reference sensors and Bayesian inference.

Main Methods:

  • An automated, portable in situ calibration method was developed.
  • A low-cost motion capture system and a laser tracker were used as reference sensors.
  • Bayesian inference was employed to optimize zero-offset parameters and quantify their uncertainty.

Main Results:

  • The developed calibration method improved the robot's average positioning accuracy four-fold.
  • Relative and absolute accuracy metrics were proposed and applied to quantify improvements.
  • Uncertainty analysis of a validated probabilistic robot model assessed absolute positioning accuracy.

Conclusions:

  • The proposed calibration method significantly enhances robotic arm positioning accuracy.
  • Bayesian inference on motion capture data provided results comparable to laser tracker data.
  • This research demonstrates a viable and effective approach for robot calibration.