Development and sensitivity analysis of a portable calibration system for joint offset of industrial robot
文献类型：会议论文
| 作者 | Liu Y(刘永); Zhao, Jianguo; Nieves-Rivera, Erick; Jia, Yunyi; Gao, Bingtuan; Lu, Jun |
| 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 Joint Offset Calibration Sensitivity Development |
| 页码 | 3838-3843 |
| 英文摘要 | This paper describes our updated system for industrial robot joint offset calibration. The system consists of an IRB1600 industrial robot, a laser tool attached to the robot's end-effector, a portable position-sensitive device (PPD), and a PC based controller. By aiming the laser spot to the center of position-sensitive-detector (PSD) on the PPD with different robot configurations, the developed system ideally implements our proposed calibration method called the virtual line-based single-point constraint approach. However, unlike our previous approach, the calibration method is extended to identify the offset parameters with an uncalibrated laser tool. The position errors of the PPD and the sensitivities of error in the PSD plane to the variation of joint angles are analyzed. Two different robot configuration patterns are compared by implementing the calibration method. Both simulation and real experimental results are consistent with the mathematical analysis. Experimental results with small (10-3-10-2) mean and standard deviation of parameters error verify the effectiveness of both the sensitivity analysis and the developed system. |
| 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:000285372902006 |
| 源URL | [http://ir.sia.cn/handle/173321/20041]  |
| 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.Shenyang Institute of Automation, Chinese Academy of Science, Shenyang, China 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 |
| 推荐引用方式 GB/T 7714 | Liu Y,Zhao, Jianguo,Nieves-Rivera, Erick,et al. Development and sensitivity analysis of a portable calibration system for joint offset of industrial robot[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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