{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,1,19]],"date-time":"2025-01-19T05:16:26Z","timestamp":1737263786262,"version":"3.33.0"},"reference-count":17,"publisher":"Wiley","issue":"3","license":[{"start":{"date-parts":[[2007,3,13]],"date-time":"2007-03-13T00:00:00Z","timestamp":1173744000000},"content-version":"vor","delay-in-days":6494,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1989,6]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Calibration methods that apply relative techniques to map robot inaccuracy increase robot flexibility by allowing for greater use and application of off\u2010line path planning techniques. To successfully implement the off\u2010line techniques described in this article, methods have been integrated for off\u2010line tool control frame (TCF) calibration, data base integration, and on\u2010line robot inaccuracy correction. The TCF calibration methods presented in this article successfully determine the TCF origin of the end\u2010effectors and sensors attached to the robot distal link to within the robot repeatability. When the methods were applied to a SEIKO DTRAN RT\u20103000 robot, the TCP origins were statically predicted correct to within 0.025mm (0.001 in.). On\u2010line methods determine robot inaccuracy by mapping robot configurations relative to operational parts or to spatial templates, in contrast to the contemporary global mapping approaches. For the Seiko robot the resulting inaccuracy distributions permit simple error correction equations to be applied, improving robot positioning accuracy to less than \u00b10.1 mm in locally large regions and to within the repeatability of the robot \u00b10.025 mm) in smaller regions. This represents an order\u2010of\u2010magnitude decrease in robot inaccuracy.<\/jats:p>","DOI":"10.1002\/rob.4620060306","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T08:55:31Z","timestamp":1183712131000},"page":"269-299","source":"Crossref","is-referenced-by-count":5,"title":["Calibration control of robot vertical assembly"],"prefix":"10.1002","volume":"6","author":[{"given":"Edward","family":"Red","sequence":"first","affiliation":[]},{"given":"Xuguang","family":"Wang","sequence":"additional","affiliation":[]},{"given":"Ed","family":"Turner","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"doi-asserted-by":"crossref","unstructured":"S.Hayati \u201cRobot Arm Geometric Link Parameter Estimation \u201d Proceedings of the 22nd IEEE Conference on Decision and Control December 1983 pp.14771483.","key":"e_1_2_1_2_2","DOI":"10.1109\/CDC.1983.269783"},{"unstructured":"B. W.Mooring \u201cThe Effect of Joint Axis Misalignment on Robot Positioning Accuracy \u201d Proceedings of the ASME Conference on Computers in Engineering Chicago Illinois 1983 pp.151\u2013155.","key":"e_1_2_1_3_2"},{"key":"e_1_2_1_4_2","first-page":"79","article-title":"An Improved Method for Identifying the Kinematic Parameters in a Six Axis Robot","volume":"1","author":"Mooring B. W.","journal-title":"Proceedings of the 1984 International Computers in Engineering Conference and Exhibit"},{"unstructured":"D. E.Whitney C. A.Lozinski andJ. M.Rourke \u201cIndustrial Robot Calibration Methods and Results \u201d Proceedings of the ASME on Computers in Engineering Conference Las Vegas Nevada August 1984 pp.92\u2013100.","key":"e_1_2_1_5_2"},{"unstructured":"S.HayatiandM.Mirmirani \u201cA Software for Robot Geometry Parameter Estimation \u201d Proceedings of the Robot West Conference Nov.281984 MS84\u20131052.","key":"e_1_2_1_6_2"},{"unstructured":"S.HayatiandM.Mirmirani \u201cPUMA 600 Robot Arm Geometric Calibration \u201d Paper presented at the International Conference on Robotics Atlanta GA Mar.13\u201315 1984.","key":"e_1_2_1_7_2"},{"unstructured":"T. W.HsuandL. J.Everett \u201cIdentification of the Kinematics Parameters of a Robot Manipulator for Positional Accuracy Improvement \u201d Proceedings of the 1985 Computers in Engineering Conference and Exhibition Vol. 1 pp.263\u2013267.","key":"e_1_2_1_8_2"},{"doi-asserted-by":"crossref","unstructured":"S.Ahmad \u201cSecond Order Nonlinear Kinematic Effects and their Compensation \u201d 1985 IEEE International Robotics and Automation Conference. March25\u201328 1985 pp.307\u2013314.","key":"e_1_2_1_9_2","DOI":"10.1109\/ROBOT.1985.1087262"},{"volume-title":"Determination of Linkage Parameter and Pair Variable Errors in Open Chain Kinematic Linkages Using a Minimal Set of Pose\u2010Measurement Data","author":"Ibarra R.","doi-asserted-by":"crossref","key":"e_1_2_1_10_2","DOI":"10.1115\/1.3260797"},{"doi-asserted-by":"crossref","unstructured":"R.Ibarra \u201cDetermination of Linkage Parameter and Pair Variable Errors in Open Chain Kinematic Linkages Using a Minimal Set of Pose Measurement Data \u201d Master's Thesis University of Texas at Austin June 1985.","key":"e_1_2_1_11_2","DOI":"10.1115\/1.3260797"},{"doi-asserted-by":"publisher","key":"e_1_2_1_12_2","DOI":"10.1002\/rob.4620040109"},{"unstructured":"G. R.Tang \u201cCalibration and Accuracy Analysis of a Six\u2010axis Industrial Robot \u201d Ph.D. Dissertation Texas A&M University December1986.","key":"e_1_2_1_13_2"},{"doi-asserted-by":"publisher","key":"e_1_2_1_14_2","DOI":"10.1002\/rob.4620040107"},{"unstructured":"S.Dorosti \u201cRelative Positioning and Orientation Accuracy Measurement of Robots \u201d Master's Thesis Brigham Young University August 1986.","key":"e_1_2_1_15_2"},{"unstructured":"E.Turner \u201cA Vertical Assembly Methodology That Accounts for Robot Inaccuracy \u201d Master's Thesis Brigham Young University 1987.","key":"e_1_2_1_16_2"},{"doi-asserted-by":"crossref","unstructured":"X.Wang \u201cOff\u2010Line Integration Techniques for Robot Path Planning \u201d Master's Thesis Brigham Young University 1987.","key":"e_1_2_1_17_2","DOI":"10.1007\/978-3-642-73890-6_52"},{"unstructured":"Z.Roth B. W.Mooring andB.Ravani. \u201cRobot Precision and Calibration Issues in Electronic Assembly \u201d Proceedings of Southern 86 Record 21 March18\u201320 1986.","key":"e_1_2_1_18_2"}],"container-title":["Journal of Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.4620060306","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.4620060306","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,18]],"date-time":"2025-01-18T07:13:38Z","timestamp":1737184418000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.4620060306"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1989,6]]},"references-count":17,"journal-issue":{"issue":"3","published-print":{"date-parts":[[1989,6]]}},"alternative-id":["10.1002\/rob.4620060306"],"URL":"https:\/\/doi.org\/10.1002\/rob.4620060306","archive":["Portico"],"relation":{},"ISSN":["0741-2223","1097-4563"],"issn-type":[{"type":"print","value":"0741-2223"},{"type":"electronic","value":"1097-4563"}],"subject":[],"published":{"date-parts":[[1989,6]]}}}