A NEW FULL POSE MEASUREMENT METHOD FOR ROBOT CALIBRATION
DOI:
https://doi.org/10.17605/OSF.IO/WBMCXKeywords:
full pose measurement; robotic manipulator; robot calibration.Abstract
Accurate full pose measurements (position and orientation) of robot end-effectors in Cartesian space
are frequently required for identifying robot kinematic errors during the calibration process. This paper proposes
a new method for measuring the full pose of robot end-effectors for calibration. The features of a set of target
points (placed on a rotating end-effector) on a circular trajectory are analysed in this method. The Puma robot's
computational simulation results validate the precise measurement. Furthermore, experimental calibration and
validation results for the Hyundai HA-06 robot demonstrate the proposed method's effectiveness, correctness,
and reliability. This method can be applied to robots that have entirely revolute joints or to robots for which only
the last joint is revolute.
Downloads
References
Hutchinson,S.;Hager,G.D.;Corke,P.I.Atutorialonvisualservocontrol.IEEETrans.Robot.Auto. 1996, 12,
–670.
Zhang,Z.;Luong,Q.-T.;Faugeras,O.Motionofanun-calibratedstereorig:Self-calibrationandmetric
reconstruction.
IEEE Trans. Robot. Auto.1996, 12, 103–113.
Grosso,E.;Metta,G.;Oddera,A.;Sandini,G.Robustvisualservoingin3-Dreachingtasks. IEEETrans. Robot.
Auto. 1996, 12, 732–742.
Dudek,G.;Jenkin,M.;Milios,E.;Wilkes,D.Usingmultiplemarkersingraphexploration. Proc.SPIE 1989,
, 77–87.
Kemmotsu, K.; Kanade, T. Sensor Placement Design for Object Pose Determination with ThreeLightStripe Range Finders. In Proceedings of 1994 IEEE International Conference on
RoboticsandAutomation, San Diego, CA, USA, 8–13May 1994; Volume 2, pp. 1357–1364.
Khadraoui, D.; Motyl, G.; Martinet, P.; Gallice, J.; Chaumette, F. Visual servoing in roboticsscheme
using a camera/laser-stripesensor.
IEEETrans. Robot. Auto. 1996,12, 743–750.
Hager, G. D. ;Chang, W.-C .; Morse, A. S. Robot hand-eye co ordination based on stereovision.
IEEE Cont. Syst. 1995,15, 30–39.
Hashimoto, K.; Ebine, T.; Kimura, H. Visual servoing with hand-eye manipulator-optimal control
approach.
IEEE Trans. Robot. Auto.1996, 12,766–774.
Faibish,S.;Bacakoglu,H.;Goldenberg,A.A.AnHandEyeSystemforAutomatedPaperRecycling. In
Proceedings of 1997 IEEE International Conference on Robotics and Automation, Albuquerque,NM,
USA, 20–25 April1997; pp. 9–14.
Omodei, A.; Legnani, G.; Adamini, R. Three methodologies for the calibration of industrial
manipulators: Experimental resultson aSCARArobot.J. Robot. Syst.2000, 17,291–307.
Everett, L.J. Completing the forward kinematic calibration of open loop manipulators when single
point position sensors are used. J. Robot. Syst. 1989, 6, 19–33.
Morris, R. D. Full-pose calibration of a robot manipulator using a coordinate measuring machine
Downloads
Published
How to Cite
Issue
Section
License
This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.
