University of Oulu

Z. Li, S. Li and X. Luo, "Efficient Industrial Robot Calibration via a Novel Unscented Kalman Filter-Incorporated Variable Step-Size Levenberg–Marquardt Algorithm," in IEEE Transactions on Instrumentation and Measurement, vol. 72, pp. 1-12, 2023, Art no. 2510012, doi: 10.1109/TIM.2023.3265744

Efficient industrial robot calibration via a novel unscented Kalman filter-incorporated variable step-size Levenberg–Marquardt algorithm

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Author: Li, Zhibin1; Li, Shuai2,3; Luo, Xin1
Organizations: 1College of Computer and Information Science, Southwest University, Chongqing 400715, China
2Faculty of Information Technology and Electrical Engineering, University of Oulu, 90570 Oulu, Finland
3VTT-Technical Research Centre of Finland, 90590 Oulu, Finland
Format: article
Version: published version
Access: open
Online Access: PDF Full Text (PDF, 2.7 MB)
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Language: English
Published: Institute of Electrical and Electronics Engineers, 2023
Publish Date: 2023-05-26


Robots facilitate a critical category of equipment to implement intelligent production. However, due to extensively inevitable factors like structural errors and gear tolerances, the positioning error of an industrial robot is several millimeters, therefore failing to fulfill the high-precision manufacturing requirements. To address the critical problem, this work develops a novel calibration algorithm that incorporates an unscented Kalman filter and a variable step-size Levenberg–Marquardt (UKF-VSLM) algorithm for efficient industrial robot calibration with the following twofold ideas: 1) developing a novel variable step-size Levenberg–Marquardt (VSLM) algorithm to address the local optimum issues encountered by a standard Levenberg–Marquardt (LM) algorithm and 2) incorporating an unscented Kalman filter (UKF) into the proposed VSLM algorithm to suppressing the measurement noises during the calibration process. Empirical studies on a HuShu Robotics (HSR) JR680 industrial robot demonstrate that compared with state-of-the-art calibration algorithms, the calibration accuracy of the developed UKF-VSLM is 19.51% higher than that of the most accurate LM algorithm measured by the maximum error. The empirical results strongly support the superior performance of the proposed algorithm in addressing robot calibration issues.

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Series: IEEE transactions on instrumentation and measurement
ISSN: 0018-9456
ISSN-E: 1557-9662
ISSN-L: 0018-9456
Volume: 72
Article number: 2510012
DOI: 10.1109/TIM.2023.3265744
Type of Publication: A1 Journal article – refereed
Field of Science: 213 Electronic, automation and communications engineering, electronics
Funding: This work was supported in part by the National Natural Science Foundation of China under Grant 62272078 and in part by the Chinese Association for Artificial Intelligence (CAAI)-Huawei MindSpore Open Fund under Grant CAAIXSJLJJ-2021-035A.
Copyright information: © The Author(s) 2023. This work is licensed under a Creative Commons Attribution 4.0 License. For more information, see