Component calibration and configuration planning in assembly automation with a parallel manipulator

doi:10.1016/j.rcim.2022.102355

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	Component calibration and configuration planning in assembly automation with a parallel manipulator
	Xing, Shiyu ; Wang, Zhe ; Hou, Jun ; Fan, Junfeng ; Jing, Fengshui 2; Tan, Min
刊名	ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
	2022-10-01
卷号	77 页码:12
关键词	Parallel manipulator Component calibration Angle-axis space Configuration planning
ISSN号	0736-5845
DOI	10.1016/j.rcim.2022.102355
通讯作者	Jing, Fengshui(fengshui.jing@ia.ac.cn)
英文摘要	Parallel manipulator (PM) is widely used as posture alignment mechanism in heavy component machining and assembly process. To achieve precise kinematics backward transformation, the relative spatial relationship between the component and PM's spherical joints need be calibrated, which suffers from the pain-point that the spherical joint center is inside the mechanical socket and its position can hardly be directly recovered. We refer this problem as component calibration. In this research, we present an alternate solution by formulating kinematic chain in form of AX = XB based on designedly established PM reference configuration and base coordinate system, which does not rely on the measurement of spherical joint center position. To improve the calibration accuracy, accuracy-influencing factors, PM's dexterity distribution over workspace and properties of angle-axis space are jointly analyzed then 4 centrosymmetric angle-axis vector pairs on the boundary of maximum feasible angle-axis space at zero manipulator translation are set as configuration pairs to establish the kinematic chain. Configuration planning in angle-axis space facilitates the visualization and control of the critical factors in calibration process and tends to set these factors to optimum simultaneously. Experiments are carried out finally and the results show that the calibration accuracy could be notably improved with such method compared with no configuration planning, especially for translation accuracy.
资助项目	National Natural Science Founda-tion of China[U1813208] ; National Key research and development program of China[2019YFB1312703]
WOS关键词	ALIGNMENT ; SENSOR
WOS研究方向	Computer Science ; Engineering ; Robotics
语种	英语
出版者	PERGAMON-ELSEVIER SCIENCE LTD
WOS记录号	WOS:000798300200002
资助机构	National Natural Science Founda-tion of China ; National Key research and development program of China
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/49476]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
通讯作者	Jing, Fengshui
作者单位	1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Xing, Shiyu,Wang, Zhe,Hou, Jun,et al. Component calibration and configuration planning in assembly automation with a parallel manipulator[J]. ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING,2022,77:12.
APA	Xing, Shiyu,Wang, Zhe,Hou, Jun,Fan, Junfeng,Jing, Fengshui,&Tan, Min.(2022).Component calibration and configuration planning in assembly automation with a parallel manipulator.ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING,77,12.
MLA	Xing, Shiyu,et al."Component calibration and configuration planning in assembly automation with a parallel manipulator".ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING 77(2022):12.