Uncertainty evaluation in robot calibration by Monte Carlo method

J. Santolaria*, M. Ginés, L. Vila, A. Brau, J. J. Aguilar

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations

Abstract

In this paper it is presented a technique to evaluate the calibration uncertainty for a robot arm calibrated by circle point analysis method. The method developed, based on probability distribution propagation calculation recommended by the Guide to the Expression of Uncertainty of Measurement, and on Monte Carlo method, makes it possible to calculate uncertainty in the identification of each robot single parameter, and thus to estimate robot positioning uncertainty in accordance to its calibration uncertainty, and not according to a set of single locations and orientations previously defined for a unique set of identified parameters. Besides, this technique allows beforehand to establish the best possible conditions for the data capture test for the identification, which turn out to have the less possible calibration uncertainty, according to the variables involved in the data capture process for the identification, by propagating their influence up to final robot accuracy. Currently, the results validity of a robot calibration procedure is expressed generally in terms of position and orientation error in a set of locations and orientations. The method presented is the first evaluation in the literature for that validity in terms of calibration uncertainty around the whole work volume.

Original languageEnglish
Title of host publication4th Manufacturing Engineering Society International Conference, MESIC 2011
Pages328-338
Number of pages11
DOIs
StatePublished - 2012
Externally publishedYes
Event4th Manufacturing Engineering Society International Conference, MESIC 2011 - Cadiz, Spain
Duration: 21 Sep 201123 Sep 2011

Publication series

NameAIP Conference Proceedings
Volume1431
ISSN (Print)0094-243X
ISSN (Electronic)1551-7616

Conference

Conference4th Manufacturing Engineering Society International Conference, MESIC 2011
Country/TerritorySpain
CityCadiz
Period21/09/1123/09/11

Keywords

  • Calibration
  • Circle-point
  • Kinematic parameter identification
  • Measurement uncertainty
  • Robots

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