Most industrial robots cannot be off-line programmed to carry out a task accurately, unless their kinematic model is suitably corrected through a calibration procedure. However, proper calibration is an expensive and time-consuming procedure due to the highly accurate measurement equipment required and due to the significant amount of data that must be collected. To improve the efficiency of robot calibration, an optimization procedure is proposed in this paper. The objective of minimizing the cost of the calibration is combined with the objective of minimizing the residual error after calibration in one multiple-objective optimization. Prediction of the residual error for a given calibration process presents the main difficulty for implementing the optimization. It is proposed that the residual error is expressed as a polynomial function. This function is obtained as a result of fitting a response surface to either experimental or simulated sample estimates of the residual error. The optimization problem is then solved by identifying a reduced set of possible solutions, thus greatly simplifying the decision maker’s choice of an effective calibration procedure. An application example of this method is also included.
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March 1994
Research Papers
Determination of the Optimum Cost-Residual Error Trade-off in Robot Calibration
G. Zak,
G. Zak
Computer Integrated Manufacturing Laboratory, Department of Mechanical Engineering, University of Toronto, 5 King’s College Road, Toronto, Ontario, Canada M5S 1A4
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R. G. Fenton,
R. G. Fenton
Computer Integrated Manufacturing Laboratory, Department of Mechanical Engineering, University of Toronto, 5 King’s College Road, Toronto, Ontario, Canada M5S 1A4
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B. Benhabib
B. Benhabib
Computer Integrated Manufacturing Laboratory, Department of Mechanical Engineering, University of Toronto, 5 King’s College Road, Toronto, Ontario, Canada M5S 1A4
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G. Zak
Computer Integrated Manufacturing Laboratory, Department of Mechanical Engineering, University of Toronto, 5 King’s College Road, Toronto, Ontario, Canada M5S 1A4
R. G. Fenton
Computer Integrated Manufacturing Laboratory, Department of Mechanical Engineering, University of Toronto, 5 King’s College Road, Toronto, Ontario, Canada M5S 1A4
B. Benhabib
Computer Integrated Manufacturing Laboratory, Department of Mechanical Engineering, University of Toronto, 5 King’s College Road, Toronto, Ontario, Canada M5S 1A4
J. Mech. Des. Mar 1994, 116(1): 28-35 (8 pages)
Published Online: March 1, 1994
Article history
Received:
December 1, 1991
Revised:
February 1, 1993
Online:
June 2, 2008
Citation
Zak, G., Fenton, R. G., and Benhabib, B. (March 1, 1994). "Determination of the Optimum Cost-Residual Error Trade-off in Robot Calibration." ASME. J. Mech. Des. March 1994; 116(1): 28–35. https://doi.org/10.1115/1.2919360
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