Realtime calibration of an industrial robot

Simple item page
dc.contributor.authorAsif, Seemal
dc.contributor.authorWebb, Phil
dc.date.accessioned2022-10-03T12:47:25Z
dc.date.available2022-10-03T12:47:25Z
dc.date.issued2022-09-30
dc.description.abstractIn large scale, complex and low volume manufacturing systems, robotics are now considered unavoidable for automating the factory operations. The aerospace industry focuses on a high variety and quality but extremely low volume. The precision it requires for numerous tasks is unique and distinct from any other manufacturing industry. This can comprise accurate position, module assembly, inspection, fastening, etc. The scale of the robot invites different types of errors during operation, which can be either because of the kinematics of the robot or because of the environment (noise, temperature, load, etc.). There are packages available from robot manufacturers for the correction and compensation of errors on the robot to achieve accuracy. There are two associated problems: 1. cost and 2. static nature. They are very costly and they do not provide correction in realtime fashion (dynamic); the robot stops, waits for the correction, and then moves to the next position. The external tool to monitor the accuracy also requires attaching with the robot permanently. These are dedicated resources. These tools for accurate measurement are expensive and attached permanently to a robot, which means wastage of resources. These measuring tools are called metrology devices and attaching these devices and the robot to the network means that other robots/machines can also use these expensive tools for measurement. Our aim was to address two problems in this project: 1. calibration (error correction and compensation of robot) and 2. dynamic and realtime processing. It helped to perform the dynamic error correction and the compensation of an industrial robot. The results showed the error correction was achieved in the region of 0.02 mm.en_UK
dc.identifier.citationAsif S, Webb P. (2022) Realtime calibration of an industrial robot. Applied System Innovation, Volume 5, Issue 5, October 2022, Article number 96en_UK
dc.identifier.issn2571-5577
dc.identifier.urihttps://doi.org/10.3390/asi5050096
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/18505
dc.language.isoenen_UK
dc.publisherMDPIen_UK
dc.rightsAttribution 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/*
dc.subjectreal-time error correctionen_UK
dc.subjectcalibrationen_UK
dc.subjectindustrial robot calibrationen_UK
dc.subjectkinematic calibrationen_UK
dc.subjectlaser interferometeren_UK
dc.subjectPIDen_UK
dc.subjectMPCen_UK
dc.titleRealtime calibration of an industrial roboten_UK
dc.typeArticleen_UK

Files

Original bundle
Now showing 1 - 1 of 1
Thumbnail Image
Name:
Realtime_calibration_of_an_industrial_robot-2022.pdf
Size:
3.61 MB
Format:
Adobe Portable Document Format
Description:
Download
License bundle
Now showing 1 - 1 of 1
No Thumbnail Available
Name:
license.txt
Size:
1.63 KB
Format:
Item-specific license agreed upon to submission
Description:
Download

Collections

Staff publications (SATM)