Title :
Calibration of a Motoman P8 robot based on laser tracking
Author :
Newman, Wyatt S. ; Birkhimer, Craig E. ; Horning, Robert J. ; Wilkey, Ann T.
Author_Institution :
Center for Autom. & Intelligent Syst. Res., Case Western Reserve Univ., Cleveland, OH, USA
Abstract :
Calibration of a Motoman P8 robot using an SMX, Inc. laser-based coordinate measuring system is presented. Since the coordinate measuring device is capable of reporting absolute coordinates, unconstrained by any calibration template, it offers highly accurate measurement of poses selected for convenience of parameter identification. It is shown that measurements obtained using the circle-point analysis technique and the highly accurate SMX coordinate measuring device provide insight into the ability to successfully calibrate an industrial robot
Keywords :
calibration; industrial robots; measurement by laser beam; parameter estimation; robot kinematics; Motoman P8 robot; SMX, Inc. laser-based coordinate measuring system; absolute coordinates; circle-point analysis technique; highly accurate pose measurement; laser tracking; Calibration; Coordinate measuring machines; Intelligent robots; Parameter estimation; Robot kinematics; Robot programming; Robot sensing systems; Robotics and automation; Service robots; Shoulder;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.845292
