Precision Calibration of Robot Magnetorheological Finishing System Based on Laser Tracker
Six-degree-of-freedom industrial robots, known for their low cost and high flexibility, have been extensively applied in optical processing. Precise pose control in robot-based optical processing systems depends on the accurate calibration of the tool coordinate system. However, in robot magnetorheo...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-01-01
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| Series: | Photonics |
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| Online Access: | https://www.mdpi.com/2304-6732/12/1/57 |
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| author | Yujing Wei Runmu Cheng Longxiang Li Qiang Cheng Yue Pan Chaoyue Zhu Jinbo Zhang Jun Zheng Bo Ai |
| author_facet | Yujing Wei Runmu Cheng Longxiang Li Qiang Cheng Yue Pan Chaoyue Zhu Jinbo Zhang Jun Zheng Bo Ai |
| author_sort | Yujing Wei |
| collection | DOAJ |
| description | Six-degree-of-freedom industrial robots, known for their low cost and high flexibility, have been extensively applied in optical processing. Precise pose control in robot-based optical processing systems depends on the accurate calibration of the tool coordinate system. However, in robot magnetorheological finishing (Robot-MRF) systems, the spherical shape of the polishing wheel poses significant challenges in precisely identifying the working point on the tool’s surface. Traditional calibration methods, such as the four-point or six-point techniques, fail to accurately calibrate the tool coordinate system for MRF tools. To overcome this limitation, a laser tracker-based calibration method is proposed for parameter calibration of the Robot-MRF system. Experimental results show that this method achieves a maximum repeatability error of just 0.0505 mm, significantly improving the stability and reliability of the calibration results and meeting the high-precision processing requirements of MRF technology. |
| format | Article |
| id | doaj-art-ad2f68e769df4e8c9d962f62498f4383 |
| institution | Kabale University |
| issn | 2304-6732 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Photonics |
| spelling | doaj-art-ad2f68e769df4e8c9d962f62498f43832025-01-24T13:46:21ZengMDPI AGPhotonics2304-67322025-01-011215710.3390/photonics12010057Precision Calibration of Robot Magnetorheological Finishing System Based on Laser TrackerYujing Wei0Runmu Cheng1Longxiang Li2Qiang Cheng3Yue Pan4Chaoyue Zhu5Jinbo Zhang6Jun Zheng7Bo Ai8Measurement and Control Technology and Instruments, School of Optoelectronic Engineering, Changchun University of Science and Technology, Changchun 130022, ChinaChangchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, ChinaChangchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, ChinaChangchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, ChinaMeasurement and Control Technology and Instruments, School of Optoelectronic Engineering, Changchun University of Science and Technology, Changchun 130022, ChinaChangchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, ChinaChangchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, ChinaChangchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, ChinaChangchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, ChinaSix-degree-of-freedom industrial robots, known for their low cost and high flexibility, have been extensively applied in optical processing. Precise pose control in robot-based optical processing systems depends on the accurate calibration of the tool coordinate system. However, in robot magnetorheological finishing (Robot-MRF) systems, the spherical shape of the polishing wheel poses significant challenges in precisely identifying the working point on the tool’s surface. Traditional calibration methods, such as the four-point or six-point techniques, fail to accurately calibrate the tool coordinate system for MRF tools. To overcome this limitation, a laser tracker-based calibration method is proposed for parameter calibration of the Robot-MRF system. Experimental results show that this method achieves a maximum repeatability error of just 0.0505 mm, significantly improving the stability and reliability of the calibration results and meeting the high-precision processing requirements of MRF technology.https://www.mdpi.com/2304-6732/12/1/57robotlaser trackermagnetorheological finishingtool center point |
| spellingShingle | Yujing Wei Runmu Cheng Longxiang Li Qiang Cheng Yue Pan Chaoyue Zhu Jinbo Zhang Jun Zheng Bo Ai Precision Calibration of Robot Magnetorheological Finishing System Based on Laser Tracker Photonics robot laser tracker magnetorheological finishing tool center point |
| title | Precision Calibration of Robot Magnetorheological Finishing System Based on Laser Tracker |
| title_full | Precision Calibration of Robot Magnetorheological Finishing System Based on Laser Tracker |
| title_fullStr | Precision Calibration of Robot Magnetorheological Finishing System Based on Laser Tracker |
| title_full_unstemmed | Precision Calibration of Robot Magnetorheological Finishing System Based on Laser Tracker |
| title_short | Precision Calibration of Robot Magnetorheological Finishing System Based on Laser Tracker |
| title_sort | precision calibration of robot magnetorheological finishing system based on laser tracker |
| topic | robot laser tracker magnetorheological finishing tool center point |
| url | https://www.mdpi.com/2304-6732/12/1/57 |
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