Robot Manipulator Calibration Using a Model Based Identification Technique and a Neural Network With the Teaching Learning-Based Optimization
This paper proposes a new calibration method for enhancing robot positional accuracy of the industrial manipulators. By combining the joint deflection model with the conventional kinematic model of a manipulator, the geometric errors and joint deflection errors can be considered together to increase...
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
IEEE
2020-01-01
|
| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9108287/ |
| _version_ | 1818875897051086848 |
|---|---|
| author | Phu-Nguyen Le Hee-Jun Kang |
| author_facet | Phu-Nguyen Le Hee-Jun Kang |
| author_sort | Phu-Nguyen Le |
| collection | DOAJ |
| description | This paper proposes a new calibration method for enhancing robot positional accuracy of the industrial manipulators. By combining the joint deflection model with the conventional kinematic model of a manipulator, the geometric errors and joint deflection errors can be considered together to increase its positional accuracy. Then, a neural network is designed to additionally compensate the unmodeled errors, specially, non-geometric errors. The teaching-learning-based optimization method is employed to optimize weights and bias of the neural network. In order to demonstrate the effectiveness of the proposed method, real experimental studies are carried out on HH 800 manipulator. The enhanced position accuracy of the manipulator after the calibration confirms the feasibility and more positional accuracy over the other calibration methods. |
| first_indexed | 2024-12-19T13:33:47Z |
| format | Article |
| id | doaj.art-cf4ed52933e4479fb1352cbda6857ace |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-19T13:33:47Z |
| publishDate | 2020-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-cf4ed52933e4479fb1352cbda6857ace2022-12-21T20:19:17ZengIEEEIEEE Access2169-35362020-01-01810544710545410.1109/ACCESS.2020.29999279108287Robot Manipulator Calibration Using a Model Based Identification Technique and a Neural Network With the Teaching Learning-Based OptimizationPhu-Nguyen Le0Hee-Jun Kang1https://orcid.org/0000-0001-9121-5442Graduate School of Electrical Engineering, University of Ulsan, Ulsan, South KoreaSchool of Electrical Engineering, University of Ulsan, Ulsan, South KoreaThis paper proposes a new calibration method for enhancing robot positional accuracy of the industrial manipulators. By combining the joint deflection model with the conventional kinematic model of a manipulator, the geometric errors and joint deflection errors can be considered together to increase its positional accuracy. Then, a neural network is designed to additionally compensate the unmodeled errors, specially, non-geometric errors. The teaching-learning-based optimization method is employed to optimize weights and bias of the neural network. In order to demonstrate the effectiveness of the proposed method, real experimental studies are carried out on HH 800 manipulator. The enhanced position accuracy of the manipulator after the calibration confirms the feasibility and more positional accuracy over the other calibration methods.https://ieeexplore.ieee.org/document/9108287/Neural networkrobot accuracyrobot calibrationteaching-learning-based optimization |
| spellingShingle | Phu-Nguyen Le Hee-Jun Kang Robot Manipulator Calibration Using a Model Based Identification Technique and a Neural Network With the Teaching Learning-Based Optimization IEEE Access Neural network robot accuracy robot calibration teaching-learning-based optimization |
| title | Robot Manipulator Calibration Using a Model Based Identification Technique and a Neural Network With the Teaching Learning-Based Optimization |
| title_full | Robot Manipulator Calibration Using a Model Based Identification Technique and a Neural Network With the Teaching Learning-Based Optimization |
| title_fullStr | Robot Manipulator Calibration Using a Model Based Identification Technique and a Neural Network With the Teaching Learning-Based Optimization |
| title_full_unstemmed | Robot Manipulator Calibration Using a Model Based Identification Technique and a Neural Network With the Teaching Learning-Based Optimization |
| title_short | Robot Manipulator Calibration Using a Model Based Identification Technique and a Neural Network With the Teaching Learning-Based Optimization |
| title_sort | robot manipulator calibration using a model based identification technique and a neural network with the teaching learning based optimization |
| topic | Neural network robot accuracy robot calibration teaching-learning-based optimization |
| url | https://ieeexplore.ieee.org/document/9108287/ |
| work_keys_str_mv | AT phunguyenle robotmanipulatorcalibrationusingamodelbasedidentificationtechniqueandaneuralnetworkwiththeteachinglearningbasedoptimization AT heejunkang robotmanipulatorcalibrationusingamodelbasedidentificationtechniqueandaneuralnetworkwiththeteachinglearningbasedoptimization |