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New positional accuracy calibration method for an autonomous robotic inspection system

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Abstract

The existing automatic inspection system employed for the quality assessment in the manufacturing of automotive parts, comprising industrial robots and sensors, has a low absolute positioning accuracy. Therefore, a new method based on an optimally pruned extreme learning machine algorithm is proposed to compensate for the absolute positional errors. This algorithm is applied to the positional error compensation of a robot end-effector by mapping the robot target position to the computed position. We selected sampling points in the robot motion space to establish an error prediction model and used the trained model to predict the error at the test points. Experiments were carried out to verify the effectiveness of the proposed method in measuring the robot positional errors in the x, y, and z axes and the total absolute accuracy. The maximum absolute positional error reduced by 78.3% from 1.472 to 0.319 mm, and the average positional error reduced by 84.5% from 1.235 to 0.191 mm. A robot was made to move along a predetermined trajectory at different speeds with improved positioning accuracy. A comparison experiment was performed to validate the accuracy and superiority of the method. The experimental results showed that the proposed method could significantly improve the positional accuracy of the robotic inspection system and that the method represents an effective and convenient technique for robot calibration in workshops.

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Acknowledgements

This research was sponsored by the National Key Research and Development Project [No. 2018YFB1701002] and Research and Development plan for key areas in Guangdong Province [No. 2019B090919001].

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Authors and Affiliations

  1. National Number Control System Engineering Research Center, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, 1037 Luoyu Road, Wuhan, 430074, China

    Geng Chen, Jianzhong Yang, Hua Xiang & Daojiang Ou

  2. Xiangyang Huazhong University of Science and Technology Advanced Manufacturing Engineering Research Institute, Ring Road, Dongjin New District, XiangYang, 441002, China

    Geng Chen

Authors
  1. Geng Chen
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  2. Jianzhong Yang
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  3. Hua Xiang
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  4. Daojiang Ou
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Correspondence to Hua Xiang.

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Technical Editor: Rogério Sales Gonçalves.

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Chen, G., Yang, J., Xiang, H. et al. New positional accuracy calibration method for an autonomous robotic inspection system. J Braz. Soc. Mech. Sci. Eng. 44, 177 (2022). https://doi.org/10.1007/s40430-022-03487-x

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  • DOI: https://doi.org/10.1007/s40430-022-03487-x

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