An automated method to calibrate industrial robot joint offset using virtual line-based single-point constraint approach
文献类型：会议论文
| 作者 | Liu Y(刘永); Zhang, George; Li, Xiongzi; Chen, Heping; Zhang, Chi; Jeffery, Michael J.; Fuhlbrigge, Thomas A. |
| 出版日期 | 2009 |
| 会议日期 | October 11-15, 2009 |
| 会议地点 | St Louis, MO, USA |
| 关键词 | Robot Offset Calibration Virtual Lines-based Single-point Constraint |
| 页码 | 715-720 |
| 英文摘要 | This paper describes an industrial robot joint offset calibration method called the virtual line-based single-point constraint approach. Previous methods such as using CMM, laser trackers or cameras are limited by the cost or the resolution. The proposed method relies mainly upon a laser pointer attached on the end-effector and single position-sensitive detector (PSD) arbitrarily located on the workcell. The automated calibration procedure (about three minutes) involves aiming the laser lines loaded by the robot towards the center of the PSD surface from various robot positions and orientations. The intersections of each pair of laser lines eventually should converge to the same point after compensating the joint offsets. An optimization model and algorithm have been formulated to identify the robot offset. For the highly precise feedback, a segmented PSD with a position resolution of better than 0.1 μm is employed. The mean accuracy of robot localization is up to 0.02 mm, and the mean error of the parameter identification is less than 0.08 degrees. Both simulations and experiments implemented on an ABB industrial robot verify the feasibility of the proposed method and demonstrated the effectiveness of the developed calibration system. The goal of fast, automated, low-cost, and high precision offset calibration are achieved. © 2009 IEEE. |
| 源文献作者 | IEEE Robot & Automat Soc (RA), Robot Soc Japan (RSJ), Soc Instruments & Control Engn, IEEE Ind Elect Soc, Inst Control, Robot & Syst Korea, ABB, Barrett Technol, Inc, Willow Garage, ROBOTIS, Aldebaran Robot |
| 产权排序 | 2 |
| 会议录 | 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009)
 |
| 会议录出版者 | IEEE Computer Society |
| 会议录出版地 | Piscataway, NJ, USA |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-3803-7 |
| WOS记录号 | WOS:000285372900124 |
| 源URL | [http://ir.sia.cn/handle/173321/20040]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 通讯作者 | Liu Y(刘永) |
| 作者单位 | 1.Department of Electrical and Computer Engineering, United States 2.Department of Electrical and Computer Engineering, Michigan State University, East Lansing, MI 48824, United States 3.Nanjing University of Science and Technology, Nanjing, China 4.Shenyang Institute of Automation, Chinese Academy of Science, Shenyang, China 5.Department of Computer Science and Engineering, Michigan State University, East Lansing, MI 48824, United States 6.ABB Corporate Research Center, ABB Inc., Windsor, CT 06095, United States |
| 推荐引用方式 GB/T 7714 | Liu Y,Zhang, George,Li, Xiongzi,et al. An automated method to calibrate industrial robot joint offset using virtual line-based single-point constraint approach[C]. 见:. St Louis, MO, USA. October 11-15, 2009. |
入库方式： OAI收割
来源：沈阳自动化研究所
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