DocumentCode
2749295
Title
Robot calibration based on multi-thread particle swarm optimization
Author
Li, Aiguo ; Wu, Defeng ; Ma, Zi
Author_Institution
Autom. Res. Center, Dalian Maritime Univ., Dalian
fYear
2008
fDate
13-16 July 2008
Firstpage
454
Lastpage
457
Abstract
Main contributions include: (1) A platform composed of a structure-light vision sensor and a industrial robot is established for robot calibration. (2) Transform the robot calibration to an optimization problem through measuring a fixed point at different hand poses and positions. (3) A multi-thread particle swarm optimization algorithm is proposed and applied in robot kinematic parameter estimation. The effectiveness of the proposed method is validated by simulation.
Keywords
calibration; end effectors; industrial manipulators; manipulator kinematics; particle swarm optimisation; industrial robot; multi-thread particle swarm optimization; optimization problem; robot calibration; robot kinematic parameter estimation; structure-light vision sensor; Calibration; Cameras; Equations; Particle swarm optimization; Robot kinematics; Robot sensing systems; Robot vision systems; Robotics and automation; Sensor systems; Service robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Industrial Informatics, 2008. INDIN 2008. 6th IEEE International Conference on
Conference_Location
Daejeon
ISSN
1935-4576
Print_ISBN
978-1-4244-2170-1
Electronic_ISBN
1935-4576
Type
conf
DOI
10.1109/INDIN.2008.4618143
Filename
4618143
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