A new full pose measurement method for robot calibration

Identification of robot kinematic errors during the calibration process often requires accurate full pose measurements (position and orientation) of robot end-effectors in Cartesian space. This paper proposes a new method of full pose measurement of robot end-effectors for calibration. This method i...

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Bibliographic Details
Published in:Sensors (Basel, Switzerland) Switzerland), 2013-07, Vol.13 (7), p.9132-9147
Main Authors: Nguyen, Hoai-Nhan, Zhou, Jian, Kang, Hee-Jun
Format: Article
Language:English
Subjects:
Accuracy
Algorithms
Calibration
Cameras
Electrical engineering
full pose measurement
Imaging, Three-Dimensional - instrumentation
Imaging, Three-Dimensional - standards
Kinematics
Motion
Production costs
Republic of Korea
robot calibration
robotic manipulator
Robotics - instrumentation
Robotics - standards
Robots
Sensors
Simulation
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Summary:Identification of robot kinematic errors during the calibration process often requires accurate full pose measurements (position and orientation) of robot end-effectors in Cartesian space. This paper proposes a new method of full pose measurement of robot end-effectors for calibration. This method is based on an analysis of the features of a set of target points (placed on a rotating end-effector) on a circular trajectory. The accurate measurement is validated by computational simulation results from the Puma robot. Moreover, experimental calibration and validation results for the Hyundai HA-06 robot prove the effectiveness, correctness, and reliability of the proposed method. This method can be applied to robots that have entirely revolute joints or to robots for which only the last joint is revolute.
ISSN:1424-8220
1424-8220
DOI:10.3390/s130709132