About: Design of a robot end effector with measurement system for precise pick-and-place of square objects

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About: Design of a robot end effector with measurement system for precise pick-and-place of square objects Goto Sponge NotDistinct Permalink

An Entity of Type : schema:ScholarlyArticle, within Data Space : covidontheweb.inria.fr associated with source document(s)

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type	Academic Article research paper schema:ScholarlyArticle
isDefinedBy	Covid-on-the-Web dataset
title	Design of a robot end effector with measurement system for precise pick-and-place of square objects
Creator	Chen, Shuqing Feng, Yixiao Jiang, Yao Li, Fengchun Li, Tiemin
source	Elsevier
abstract	Abstract Future manufacturing requires increasing participation of the robots for pick-and-place task. One of the main error sources that reduce the final accuracy of the task is the pose deviation between the end effector (EF) of the robot and its manipulated target object (TO). In this paper, to improve the accuracy, an end effector and its affiliated measurement system, which can measure the relative pose deviation between the TO and the EF, was designed for the precise pick-and-place of the square TOs. In the design, an additional measurement frame (“Frame” for short) with CCD laser displacement sensors was established as a media to transform the pose of the TO to the expression in the coordinate system (CS) of the EF by both describing the pose of the EF and of the TO in the Frame’s CS separately. The geometric model of the entire design, in which the pose deviation of the TO was expressed as a function of the readings of the 16 CCD displacement sensors, was also established. To verify the effectiveness of the design and of the accuracy of the geometric model, an experiment was performed on an ABB irb4600 robot to compensate the error between the EF and its grasped TO in a pick-and-place task. Results show that the average errors can be reduced by around 85%.
has issue date	2020-12-31(xsd:dateTime)
bibo:doi	10.1016/j.promfg.2020.05.035
has license	els-covid
sha1sum (hex)	9681e09b6a23e4247ac93247bf9b21ce83a4f01e
schema:url	https://doi.org/10.1016/j.promfg.2020.05.035
resource representing a document's title	Design of a robot end effector with measurement system for precise pick-and-place of square objects
schema:publication	Procedia Manufacturing
resource representing a document's body	covid:9681e09b6a23e4247ac93247bf9b21ce83a4f01e#body_text
is schema:about of	named entity 'robots' named entity 'verify' named entity 'average' named entity 'effector' named entity 'Design' »more»

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