DocumentCode :
2633669
Title :
A New Pose Measuring and Kinematics Calibrating Method for Manipulators
Author :
Ji, Junhong ; Sun, Lining ; Yu, Lingtao
Author_Institution :
Fac. of Robotics Inst., Harbin Inst. of Technol.
fYear :
2007
fDate :
10-14 April 2007
Firstpage :
4925
Lastpage :
4930
Abstract :
Calibration is an essential issue to use a robot to accomplish some tasks with high accuracy requirements. An important part of calibration process is measuring the actual pose of some parts of the robot. Many sensors have been used for measuring, for some of them, extra objects need installing on the robot, so it´s possible to implement extra accuracy problems. While choosing coordinate measure machine as the measure equipment, a new pose measure method is proposed. The major advantage of this method is neither extra objects nor definite points are needed, so it´s more feasible to realize the coordinate measure machine´s strength. The planes for calibration can be directly machined on the end-effector, so the assembly errors are avoided completely. An experiment to calibrate a parallel robot´s geometrical parameters is carried out and the results are provided.
Keywords :
manipulator kinematics; coordinate measure machine; kinematics calibration; manipulators; pose measurement; Calibration; Coordinate measuring machines; Manufacturing; Mathematical model; Mathematics; Robot kinematics; Robot sensing systems; Robotic assembly; Robotics and automation; Sun;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location :
Roma
ISSN :
1050-4729
Print_ISBN :
1-4244-0601-3
Electronic_ISBN :
1050-4729
Type :
conf
DOI :
10.1109/ROBOT.2007.364238
Filename :
4209856
Link To Document :
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