Zhengyu Wang, Xuchang Liu, Zirui Jia, Xiang Yu, Zongkun Pei, Jun Yang
This paper presents the design, calibration, and development of a novel cable-driven planar parallel continuum robot (PCR). The PCR employs a novel drive unit, which is mainly composed of cables, guiding pulleys and miniature linear actuators. The kinematic model of the PCR is derived based on the constant curvature assumption and the space vector method, and its workspace and singularity are analyzed. In addition, this paper adopts a novel compound kinematic calibration method, which includes the linear calibration method in the robot-specific model and the use of genetic algorithm (GA) in the robot-independent model. To verify the validity of the calibration method, the pose accuracy is assessed by providing positional points on the elliptical trajectory, and the trajectory tracking accuracy is evaluated by using the circular and rectangular trajectories. The experimental results show that the static positioning accuracy is maintained at 1mm, meanwhile the trajectory tracking accuracy is controlled within the range of 0.9-1.4mm. The PCR developed in this paper shows good comprehensive performance by employing the proposed novel compound kinematic calibration method.
{"title":"Development of A New Cable-driven Planar Parallel Continuum Robot Using Compound Kinematic Calibration Method","authors":"Zhengyu Wang, Xuchang Liu, Zirui Jia, Xiang Yu, Zongkun Pei, Jun Yang","doi":"10.1115/1.4064670","DOIUrl":"https://doi.org/10.1115/1.4064670","url":null,"abstract":"\u0000 This paper presents the design, calibration, and development of a novel cable-driven planar parallel continuum robot (PCR). The PCR employs a novel drive unit, which is mainly composed of cables, guiding pulleys and miniature linear actuators. The kinematic model of the PCR is derived based on the constant curvature assumption and the space vector method, and its workspace and singularity are analyzed. In addition, this paper adopts a novel compound kinematic calibration method, which includes the linear calibration method in the robot-specific model and the use of genetic algorithm (GA) in the robot-independent model. To verify the validity of the calibration method, the pose accuracy is assessed by providing positional points on the elliptical trajectory, and the trajectory tracking accuracy is evaluated by using the circular and rectangular trajectories. The experimental results show that the static positioning accuracy is maintained at 1mm, meanwhile the trajectory tracking accuracy is controlled within the range of 0.9-1.4mm. The PCR developed in this paper shows good comprehensive performance by employing the proposed novel compound kinematic calibration method.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":"8 3","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139800233","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Zhengyu Wang, Xuchang Liu, Zirui Jia, Xiang Yu, Zongkun Pei, Jun Yang
This paper presents the design, calibration, and development of a novel cable-driven planar parallel continuum robot (PCR). The PCR employs a novel drive unit, which is mainly composed of cables, guiding pulleys and miniature linear actuators. The kinematic model of the PCR is derived based on the constant curvature assumption and the space vector method, and its workspace and singularity are analyzed. In addition, this paper adopts a novel compound kinematic calibration method, which includes the linear calibration method in the robot-specific model and the use of genetic algorithm (GA) in the robot-independent model. To verify the validity of the calibration method, the pose accuracy is assessed by providing positional points on the elliptical trajectory, and the trajectory tracking accuracy is evaluated by using the circular and rectangular trajectories. The experimental results show that the static positioning accuracy is maintained at 1mm, meanwhile the trajectory tracking accuracy is controlled within the range of 0.9-1.4mm. The PCR developed in this paper shows good comprehensive performance by employing the proposed novel compound kinematic calibration method.
{"title":"Development of A New Cable-driven Planar Parallel Continuum Robot Using Compound Kinematic Calibration Method","authors":"Zhengyu Wang, Xuchang Liu, Zirui Jia, Xiang Yu, Zongkun Pei, Jun Yang","doi":"10.1115/1.4064670","DOIUrl":"https://doi.org/10.1115/1.4064670","url":null,"abstract":"\u0000 This paper presents the design, calibration, and development of a novel cable-driven planar parallel continuum robot (PCR). The PCR employs a novel drive unit, which is mainly composed of cables, guiding pulleys and miniature linear actuators. The kinematic model of the PCR is derived based on the constant curvature assumption and the space vector method, and its workspace and singularity are analyzed. In addition, this paper adopts a novel compound kinematic calibration method, which includes the linear calibration method in the robot-specific model and the use of genetic algorithm (GA) in the robot-independent model. To verify the validity of the calibration method, the pose accuracy is assessed by providing positional points on the elliptical trajectory, and the trajectory tracking accuracy is evaluated by using the circular and rectangular trajectories. The experimental results show that the static positioning accuracy is maintained at 1mm, meanwhile the trajectory tracking accuracy is controlled within the range of 0.9-1.4mm. The PCR developed in this paper shows good comprehensive performance by employing the proposed novel compound kinematic calibration method.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":"458 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139860307","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Flexible continuum manipulators (FCM) are gaining importance because of their manoeuvrability and pliability in confined and complex spaces, where rigid link manipulators underperform. However, the dynamic behaviour and control of the FCM are quite challenging due to its complex nonlinear behaviour. In this study, a generalized finite element-based dynamic model framework is derived that accounts for the geometric non-linearities and inertial effects. An experimental setup of tendon-driven FCM, consisting of a flexible backbone, is developed to validate the model. The modal analysis of the model is in agreement with the analytical solutions, with less than 10% error. The model is also validated for various loading conditions on the tip-actuated tendon-driven FCM. The steady-state tip position predictions are within 15% of the ground truth.
{"title":"FEM-based Dynamic Modelling Framework for Flexible Continuum Manipulators","authors":"Md Modassir Firdaus, Omkar Paranjape, Madhu Vadali","doi":"10.1115/1.4064669","DOIUrl":"https://doi.org/10.1115/1.4064669","url":null,"abstract":"\u0000 Flexible continuum manipulators (FCM) are gaining importance because of their manoeuvrability and pliability in confined and complex spaces, where rigid link manipulators underperform. However, the dynamic behaviour and control of the FCM are quite challenging due to its complex nonlinear behaviour. In this study, a generalized finite element-based dynamic model framework is derived that accounts for the geometric non-linearities and inertial effects. An experimental setup of tendon-driven FCM, consisting of a flexible backbone, is developed to validate the model. The modal analysis of the model is in agreement with the analytical solutions, with less than 10% error. The model is also validated for various loading conditions on the tip-actuated tendon-driven FCM. The steady-state tip position predictions are within 15% of the ground truth.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":"56 4","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139798871","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
To realize a no-backlash reducer for a small-size orthogonal-axis output, a novel design of a precession motion ball reducer is proposed. This reducer consists of a precession motion generating section, motion direction converting section of the precession motion, and reduced output generating section. To avoid cutting tool interference, two types of distorted spatial circular grooves are located on the outer spherical surface of a precession rotor. Furthermore, the grooves of the reduced rotation generating section are profiled on the spherical surface at the output side of the precession motion rotor, which is different from the previous precession ball reducer. In this research, the equations for the groove loci of the precession motion generation, motion direction conversion, and reduced rotation generation, which are located on the outer spherical surfaces, are proposed. The output rotating direction can be determined using the relationship between the input and output rotation angles of the precession motion direction converting groove. The prototype reducer is confirmed to smoothly rotate. Furthermore, at the hysteresis loss characteristic test, that is better than the backlash characteristic of a general orthogonal-axis output type speed reducer with bevel gears.
{"title":"Improved Design of an Orthogonal-axis Type Precession Motion Ball Reducer","authors":"H. Terada, Koji Makino, Yuma Wada, Takeshi Nagai","doi":"10.1115/1.4064638","DOIUrl":"https://doi.org/10.1115/1.4064638","url":null,"abstract":"\u0000 To realize a no-backlash reducer for a small-size orthogonal-axis output, a novel design of a precession motion ball reducer is proposed. This reducer consists of a precession motion generating section, motion direction converting section of the precession motion, and reduced output generating section. To avoid cutting tool interference, two types of distorted spatial circular grooves are located on the outer spherical surface of a precession rotor. Furthermore, the grooves of the reduced rotation generating section are profiled on the spherical surface at the output side of the precession motion rotor, which is different from the previous precession ball reducer. In this research, the equations for the groove loci of the precession motion generation, motion direction conversion, and reduced rotation generation, which are located on the outer spherical surfaces, are proposed. The output rotating direction can be determined using the relationship between the input and output rotation angles of the precession motion direction converting groove. The prototype reducer is confirmed to smoothly rotate. Furthermore, at the hysteresis loss characteristic test, that is better than the backlash characteristic of a general orthogonal-axis output type speed reducer with bevel gears.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":"294 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-01-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140471757","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Forward kinematics-based modeling approaches are capable of constructing complete kinematic error models for parallel robots generically. The existing forward kinematics-based modeling methods replace any multiple-degree-of-freedom (multi-DOF) joints with several 1-DOF joints so that any limb of the parallel robot can be modeled like a serial robot. Nonetheless, this substitution complicates the kinematic model and results in additional computation. To overcome this shortcoming, an efficient kinematic calibration method adopting compact multi-DOF joint models is proposed. At first, compact kinematic models for multi-DOF joints are established with the product of exponentials (POE) formula and adopted in the forward kinematic formulation of limbs. Next, error models of limbs are derived by simplifying the forward kinematic formulas' differentials, and the geometric error model for parallel robots is established by further concatenating and reformulating the limb error models. Then, geometric error parameters are identified by using the Levenberg-Marquardt algorithm and the error compensation is accomplished by the inverse kinematics of the calibrated kinematic model. Finally, simulations and an experiment are implemented for validation. Compared with the existing forward kinematics-based modeling approaches, the error modeling procedures are simplified as the equivalent substitution of multi-DOF joints is avoided. The proposed approach also improves the error compensation efficiency without compromising calibration accuracy.
{"title":"An Efficient Kinematic Calibration Method for Parallel Robots with Compact Multi-DOF Joint Models","authors":"Weijia Zhang, Zikang Shi, Xinxue Chai, Ye Ding","doi":"10.1115/1.4064637","DOIUrl":"https://doi.org/10.1115/1.4064637","url":null,"abstract":"\u0000 Forward kinematics-based modeling approaches are capable of constructing complete kinematic error models for parallel robots generically. The existing forward kinematics-based modeling methods replace any multiple-degree-of-freedom (multi-DOF) joints with several 1-DOF joints so that any limb of the parallel robot can be modeled like a serial robot. Nonetheless, this substitution complicates the kinematic model and results in additional computation. To overcome this shortcoming, an efficient kinematic calibration method adopting compact multi-DOF joint models is proposed. At first, compact kinematic models for multi-DOF joints are established with the product of exponentials (POE) formula and adopted in the forward kinematic formulation of limbs. Next, error models of limbs are derived by simplifying the forward kinematic formulas' differentials, and the geometric error model for parallel robots is established by further concatenating and reformulating the limb error models. Then, geometric error parameters are identified by using the Levenberg-Marquardt algorithm and the error compensation is accomplished by the inverse kinematics of the calibrated kinematic model. Finally, simulations and an experiment are implemented for validation. Compared with the existing forward kinematics-based modeling approaches, the error modeling procedures are simplified as the equivalent substitution of multi-DOF joints is avoided. The proposed approach also improves the error compensation efficiency without compromising calibration accuracy.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":"657 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-01-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140474760","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The human ball joint is a compact and flexible 3-DOF composite joint. The ball joints commonly used in robot design lack active driving capability. Ball joints with active drive generally consist of three single-degree-of-freedom joints connected in series, which is a non-compacted structure and easily leads to singular postures. In order to meet the demand for high performance composite joint modules for service robots, this paper designs a flexible biomimetic spherical robot joint with variable stiffness characteristics: the mechanism of muscle parallel antagonistic drive and ligament wrapping constraint is simulated, three parallel branch chains are used to drive three composite degrees of freedom, ropes, soft airbags and series elastic drive gears are used to form a flexible transmission system, the contour of the rope winch has been optimized with the aim of transmission stability, and a pneumatic variable stiffness soft structure has been designed and fabricated. A compliance control algorithm for joints was developed based on the principle of impedance control. The research results indicate that the biomimetic ball and socket joint has a compact structure, a wide range of motion and good motion tracking performance, variable stiffness performance and flexible interaction ability.
{"title":"Research on a biomimetic flexible ball joint with variable stiffness for robots","authors":"Qianyu Luo, Xiuli Zhang, Yuxin Wang","doi":"10.1115/1.4064635","DOIUrl":"https://doi.org/10.1115/1.4064635","url":null,"abstract":"\u0000 The human ball joint is a compact and flexible 3-DOF composite joint. The ball joints commonly used in robot design lack active driving capability. Ball joints with active drive generally consist of three single-degree-of-freedom joints connected in series, which is a non-compacted structure and easily leads to singular postures. In order to meet the demand for high performance composite joint modules for service robots, this paper designs a flexible biomimetic spherical robot joint with variable stiffness characteristics: the mechanism of muscle parallel antagonistic drive and ligament wrapping constraint is simulated, three parallel branch chains are used to drive three composite degrees of freedom, ropes, soft airbags and series elastic drive gears are used to form a flexible transmission system, the contour of the rope winch has been optimized with the aim of transmission stability, and a pneumatic variable stiffness soft structure has been designed and fabricated. A compliance control algorithm for joints was developed based on the principle of impedance control. The research results indicate that the biomimetic ball and socket joint has a compact structure, a wide range of motion and good motion tracking performance, variable stiffness performance and flexible interaction ability.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":"19 8","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-01-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140477106","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
When performing microlaryngoscope surgery, surgeons must maintain their arm positions for a long time, which can cause arm soreness and affect the success rate of surgery. In this study, a novel tendon-sheath-driven upper limb exoskeleton with elastic joints (TULEE) is proposed and developed to support the arms of doctors wearing the TULEE. The functional requirements of the TULEE were proposed according to the needs of microlaryngoscopic surgery, and the overall structure of the TULEE was designed. Then, the positive kinematics of the TULEE were derived based on the D-H transformation matrices, and the accuracy of the positive kinematic control was verified experimentally. The reachable workspace of the wrist joint of the TULEE was analyzed, and the dexterous workspace of the wrist was analyzed by using the condition number of the Jacobian matrix. The control strategy of the TULEE was proposed based on the principle of admittance control. Finally, an experimental prototype of the TULEE was built, and the feasibility of the control strategy was verified by a servo control experiment testing a single joint and a combined control experiment testing multiple joints. Through simulated surgical experiments, it was verified that TULEE can follow the wearer's arm movement, provide assistance for the wearer's arm movement in the following control mode, and lock the joint rotation angle in the steady-state control mode to reduce external disturbances and reduce the risk of unsuccessful surgery.
在进行显微喉镜手术时，外科医生必须长时间保持手臂姿势，这会导致手臂酸痛，影响手术的成功率。本研究提出并开发了一种新型带弹性关节的腱鞘驱动上肢外骨骼（TULEE），以支撑佩戴 TULEE 的医生的手臂。根据显微喉镜手术的需要，提出了 TULEE 的功能要求，并设计了 TULEE 的整体结构。然后，根据 D-H 变换矩阵推导出 TULEE 的正运动学，并通过实验验证了正运动学控制的准确性。分析了 TULEE 腕关节的可达工作空间，并利用雅各布矩阵的条件数分析了腕关节的灵巧工作空间。根据导纳控制原理，提出了 TULEE 的控制策略。最后，制作了 TULEE 的实验原型，并通过测试单关节的伺服控制实验和测试多关节的组合控制实验验证了控制策略的可行性。通过模拟手术实验，验证了 TULEE 可以跟随佩戴者的手臂运动，在跟随控制模式下为佩戴者的手臂运动提供辅助，在稳态控制模式下锁定关节旋转角度，从而减少外部干扰，降低手术不成功的风险。
{"title":"Development of a Novel Tendon Sheath-Driven Upper Limb Exoskeleton with Elastic Joints for Assisting Surgeon Performing Microlaryngoscopic Surgery","authors":"Zhengyu Wang, Wenjun Song, Wenjie Bian, Ziqian Li, Zirui Jia, Xiang Yu","doi":"10.1115/1.4064636","DOIUrl":"https://doi.org/10.1115/1.4064636","url":null,"abstract":"\u0000 When performing microlaryngoscope surgery, surgeons must maintain their arm positions for a long time, which can cause arm soreness and affect the success rate of surgery. In this study, a novel tendon-sheath-driven upper limb exoskeleton with elastic joints (TULEE) is proposed and developed to support the arms of doctors wearing the TULEE. The functional requirements of the TULEE were proposed according to the needs of microlaryngoscopic surgery, and the overall structure of the TULEE was designed. Then, the positive kinematics of the TULEE were derived based on the D-H transformation matrices, and the accuracy of the positive kinematic control was verified experimentally. The reachable workspace of the wrist joint of the TULEE was analyzed, and the dexterous workspace of the wrist was analyzed by using the condition number of the Jacobian matrix. The control strategy of the TULEE was proposed based on the principle of admittance control. Finally, an experimental prototype of the TULEE was built, and the feasibility of the control strategy was verified by a servo control experiment testing a single joint and a combined control experiment testing multiple joints. Through simulated surgical experiments, it was verified that TULEE can follow the wearer's arm movement, provide assistance for the wearer's arm movement in the following control mode, and lock the joint rotation angle in the steady-state control mode to reduce external disturbances and reduce the risk of unsuccessful surgery.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":"201 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-01-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140472767","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Manipulators are increasingly being called upon to perform a wide range of tasks. This paper explores the maximal distance throwing task for robotic manipulators and shows that this characteristic can be incorporated in the kinematic design process. Indeed, knowing the maximum distance that a manipulator can throw objects is useful in determining the viability of certain throwing tasks it might be called upon to execute. This paper studies three optimization problems: optimizing the release state to maximize the throwing distance, optimizing the kinematic trajectory subject to position, velocity, acceleration and jerk constraints, and finally optimizing the kinematic design of manipulators to maximize the workspace as well as the throwing distance. Three manipulator architectures are used as case studies for these optimizations: a planar RR, a spatial RRR and a wrist partitioned 6R manipulator. A video summarizing the key findings of this paper can be found at youtu.be/lTFYUXKP1jY.
{"title":"Maximizing the Throwing Distance of Robotic Manipulators: An Optimization Approach","authors":"Andre Gallant, Clement Gosselin","doi":"10.1115/1.4064570","DOIUrl":"https://doi.org/10.1115/1.4064570","url":null,"abstract":"\u0000 Manipulators are increasingly being called upon to perform a wide range of tasks. This paper explores the maximal distance throwing task for robotic manipulators and shows that this characteristic can be incorporated in the kinematic design process. Indeed, knowing the maximum distance that a manipulator can throw objects is useful in determining the viability of certain throwing tasks it might be called upon to execute. This paper studies three optimization problems: optimizing the release state to maximize the throwing distance, optimizing the kinematic trajectory subject to position, velocity, acceleration and jerk constraints, and finally optimizing the kinematic design of manipulators to maximize the workspace as well as the throwing distance. Three manipulator architectures are used as case studies for these optimizations: a planar RR, a spatial RRR and a wrist partitioned 6R manipulator. A video summarizing the key findings of this paper can be found at youtu.be/lTFYUXKP1jY.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":"41 17","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139599564","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Hand-eye calibration is a typical research direction in robotics applications. The current methods can be divided into two categories according to whether the rotational and translational equations are decoupled for computation: two-step methods and one-step methods. Both one-step and two-step methods generally convert such problems to linear null space computations, which is implemented by the corresponding computational operators. Owing to the booming development of the rotation operators, the two-step methods have been more fully researched. However, due to the limitations of the research on computational operators integrating rotation and translation, the one-step methods still have much scope for research. Dual algebra, as effective mathematical entities for screws and wrenches, provides the theoretical basis for the development of the one-step methods for hand-eye calibration. In this paper, a computational operator for the dual matrices computation was first proposed, i.e., dual Kronecker product. Subsequently, a hand-eye calibration framework was proposed based on the dual Kronecker product, which allowed the screw motion to be represented as multiple dual vectors. Furthermore, the equivalence of this framework with the orthogonal-dual-tensor-based approach was derived, providing a more intuitive computational representation. The feasibility and superiority of the proposed computational framework were experimentally verified.
{"title":"One-step Solving the Hand-Eye Calibration by Dual Kronecker Product","authors":"Xiao Wang, Hanwen Song","doi":"10.1115/1.4064576","DOIUrl":"https://doi.org/10.1115/1.4064576","url":null,"abstract":"\u0000 Hand-eye calibration is a typical research direction in robotics applications. The current methods can be divided into two categories according to whether the rotational and translational equations are decoupled for computation: two-step methods and one-step methods. Both one-step and two-step methods generally convert such problems to linear null space computations, which is implemented by the corresponding computational operators. Owing to the booming development of the rotation operators, the two-step methods have been more fully researched. However, due to the limitations of the research on computational operators integrating rotation and translation, the one-step methods still have much scope for research. Dual algebra, as effective mathematical entities for screws and wrenches, provides the theoretical basis for the development of the one-step methods for hand-eye calibration. In this paper, a computational operator for the dual matrices computation was first proposed, i.e., dual Kronecker product. Subsequently, a hand-eye calibration framework was proposed based on the dual Kronecker product, which allowed the screw motion to be represented as multiple dual vectors. Furthermore, the equivalence of this framework with the orthogonal-dual-tensor-based approach was derived, providing a more intuitive computational representation. The feasibility and superiority of the proposed computational framework were experimentally verified.","PeriodicalId":508172,"journal":{"name":"Journal of Mechanisms and Robotics","volume":"38 3","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139602382","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Ling Wang, Xiaoliang Wu, Yanfeng Gao, Xiai Chen, Binrui Wang
The international standard ISO 9283:1998 is popular for performance tests of industrial robots at present. It is desirable that the tests described in this standard should be sensitive to error sources of robot end positioning/orientation. In this paper, firstly, the kinematic and the joint stiffness model parameters are identified experimentally for two models of 6-DOF (Degree of Freedom) serial in-dustrial robots (i.e., the ABB IRB 1410 and UR5 robots). Then, the standard deviations of the de-rived model parameters are obtained as error inputs for the sensitivity analysis of the performance tests including the positioning/orientation accuracy/repeatability tests. By simulating the error sen-sitivity of the positioning/orientation accuracy/repeatability test methods for industrial robots, it is analyzed whether the tests described in the ISO 9283:1998 Standard are sensitive to the focused er-ror sources, showing the limitations of the evaluation index of the ISO 9283:1998 Standard.. The results show that for 6-DOF serial industrial robots, the positioning accuracy test is the key to de-termining their motion performance. The orientation accuracy and repeatability tests are not neces-sary if the positioning accuracy and repeatability tests can be done for 6-DOF serial industrial robots. Finally, the improvement suggestion of the performance test method is proposed. The research of this paper is beneficial for improving the performance evaluation methods of industrial robots. It can also help robot manufacturing enterprises analyze and improve the positioning/orientation accura-cy/repeatability of their products.
ISO 9283:1998 国际标准是目前比较流行的工业机器人性能测试标准。该标准中描述的测试最好能对机器人末端定位/定向的误差源保持敏感。本文首先通过实验确定了两种型号的 6 自由度（Degree of Freedom）串行工业机器人（即 ABB IRB 1410 和 UR5 机器人）的运动学和关节刚度模型参数。然后，获得所设计模型参数的标准偏差，作为性能测试（包括定位/定向精度/可重复性测试）灵敏度分析的误差输入。通过模拟工业机器人定位/定向精度/重复性测试方法的误差敏感性，分析了 ISO 9283:1998 标准中描述的测试是否对重点误差源敏感，显示了 ISO 9283:1998 标准评价指标的局限性。结果表明，对于 6-DOF 串行工业机器人而言，定位精度测试是确定其运动性能的关键。如果 6-DOF 串行工业机器人可以进行定位精度和重复精度测试，则无需进行方向精度和重复精度测试。最后，提出了性能测试方法的改进建议。本文的研究有利于改进工业机器人的性能评估方法。也有助于机器人制造企业分析和改进其产品的定位/定向精度/重复性。
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