ELOS 2023

Mojtaba Ahmadieh Khanesar

Mojtaba Ahmadieh Khanesar, Speaker at Optic Conferences
University of Nottingham, United Kingdom
Title : Optical metrology devices for industrial robot calibration using intelligent optimization approaches


Using forward kinematics of an industrial robot, it is possible to calculate its position and orientation using joint angle readings. However, forward kinematics of industrial robots include uncertainties. One of the major sources of uncertainties in the industrial robot forward kinematics are uncertainties caused by DH parameter values of an industrial robot. Assembly and manufacturing tolerances may cause differences between actual and nominal DH parameters. We have used different intelligent optimization approaches such as gravitational search algorithms, and artificial bee colony to tune DH parameters of an industrial robot. Precision position feedback is provided using optical metrology equipment such as laser tracker, laser interferometer, and photogrammetry systems. Therefore, this talk presents a comparative study on the use of above-mentioned intelligent optimization approaches for the calibration purpose of industrial robot DH parameters. Sum of squared error approach of position is used as the cost function. Using these intelligent optimization approaches, more precise values for industrial robot parameters are estimated. 

Audience Take Away Notes:

  • The proposed approach uses intelligent optimization approaches to deal with uncertainties within DH parameter values of industrial robots. Using these approaches, it is possible to estimate more precise industrial robot DH parameters which contributes to more precise position and orientation estimation.
  • Robotic engineers will use this approach to calibrate their industrial robots. Optical scientists and engineers will be given some hints to use their optical noncontact metrology equipment for industrial robot calibration purposes
  • This method can be used to calibrate all industrial robots and is easily expandable within teaching and research environments. It would be an interdisciplinary research and teaching environment of metrology, robotics, and artificial intelligence.
  • Calibration using the proposed approach is more efficient and is beneficial for all robot design engineers, as well as robot everyday users
  • The proposed algorithm is a calibration method which can contribute to the precision improvement and designing more accurate industrial robot systems by eliminating the uncertainties caused by its DH parameter values
  • More research on artificial intelligence approaches including intelligent optimization approaches.
  • Use of advanced metrology equipment to improve position and orientation accuracies.
  • Robotics including study of forward kinematics and inverse kinematics of industrial robots.


M. A. Khanesar (SMIEEE, MIET, MASME) has been working as a Postdoctoral Research Fellow with the Advanced Manufacturing Technology Research Group, University of Nottingham, U.K since 2018. He received the B.Sc., M.S., and Ph.D. degrees in control engineering from the K. N. Toosi University of Technology, Tehran, Iran, in 2005, 2007, and 2012, respectively. He has further held previous positions as a Postdoctoral Researcher with the Technical University of Denmark and an Assistant Professor with Semnan University, Iran. He held a nine-month visiting student position at the Bogazici University, Istanbul, Turkey, in 2010. He serves as an Academic Editor for Complexity journal (Hindawi/Wiley), and an Associate Editor of Complex, and Intelligent Systems (Springer). His current research interests include metrology, manufacturing, robotics, machine learning, and control. He has published more than 40 research articles in SCI(E) journals and two books which are published with Elsevier, and Springer.