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A calibration method for tool frame in the three-dimensional measurement system based on R-test

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Abstract

Calibration of the tool frame is essential to ensure the accuracy of the measurement system. To enhance the detection range of R-test and make it more suitable for robot calibration, we designed a low-cost and high-precision three-dimensional measurement system with R-test. Then, a two-stage method is proposed to reduce the uncertainty caused by the orthogonalization procedure in the identification of the R-test frame, which consists of an orthogonalization solution that gives an initial value and an intelligent algorithm that improves the identification accuracy. The measurement structure of the R-test and the proposed identification method are easily applicable to articulated arm measuring machines (AMMs). Additionally, we provide an extension method for AMMs. In the experiment, a prototype of the three-dimensional measurement system based on R-test is developed. And, the comparative experiment proves the effectiveness of the proposed method.

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Funding

This research is funded by the National Natural Science Foundation of China (Grant No. 52175452), the Stable Support Plan Program of Shenzhen Natural Science Fund (Grant No. 20200925174640002), and Centers for Mechanical Engineering Research and Education at MIT and SUSTech.

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Authors and Affiliations

  1. Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, Southern University of Science and Technology, Shenzhen, 518055, China

    Yixuan Guo & Chenglong Fu

  2. Beijing Information Science and Technology University, 12. East Qinghexiaoying RD, Haidian Dist, Beijing, 100192, China

    Zhouxiang Jiang

  3. State Key Lab of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, 1037 Luoyu Road, Wuhan, 430074, China

    Bao Song, Xiaoqi Tang & Yuanlong Xie

Authors
  1. Yixuan Guo
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  2. Zhouxiang Jiang
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  3. Bao Song
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  4. Xiaoqi Tang
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  5. Yuanlong Xie
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  6. Chenglong Fu
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Contributions

Yixuan Guo contributed to the conception and implementation of the study. Zhouxiang Jiang, Bao Song, Xiaoqi Tang, and Yuanlong Xie contributed to providing the experiment devices and facilities. Chenglong Fu contributed to supervising the study and reviewing and revising the manuscript.

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Correspondence to Chenglong Fu.

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Guo, Y., Jiang, Z., Song, B. et al. A calibration method for tool frame in the three-dimensional measurement system based on R-test. Int J Adv Manuf Technol 128, 1353–1364 (2023). https://doi.org/10.1007/s00170-023-11633-5

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  • DOI: https://doi.org/10.1007/s00170-023-11633-5

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