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Rapid robot/workcell calibration using line-based approach
Liu, Yong; Shen, Yantao; Xi N(席宁); Yang, Ruiguo; Li, Xiongzi; Zhang, George; Fuhlbrigge, Thomas A.; Liu, Y.
作者部门机器人学研究室
会议名称4th IEEE Conference on Automation Science and Engineering, CASE 2008
会议日期August 23-26, 2008
会议地点Washington, DC, USA
会议主办者TOYOTA; ABB; GM; QUALTECH SYSTEMS INC.; SPANSION
会议录名称4th IEEE Conference on Automation Science and Engineering, CASE 2008
出版者IEEE Computer Society
出版地Piscataway, NJ, USA
2008
页码510-515
收录类别EI ; CPCI(ISTP)
EI收录号20084511677474
WOS记录号WOS:000261320400084
产权排序3
ISBN号978-1-4244-2023-0
摘要This paper presents a new line-based calibration method for automatically computing the transformation relationship between industrial robots and workcell. The calibration method mainly depends on the position-sensitive detector (PSD) servo control of the robots. The developed servo controller allows precisely positioning the laser beam (line) from a single laser pointer attached at the end-effector of robot onto the center of the PSD in a well-designed lateral-effect PSDs fixture. The selected PSD in the fixture has high performance with the resolution of 0.5μ. Once the precision localizations/positioning in the centers of multiple PSDs are achieved, the group of points in the robot base frame and workcell frame can be generated by using the intersection of laser beams (lines) and by using the predefined fixture-workcell information, respectively. A quaternion algorithm and the least square method are then employed to determine the transformation relationship between robot base frame and workcell frame. The experiments have been implemented on an ABB industrial robot IRB1600, the results verify the effectiveness of both the PSD servoing and the line-based calibration method as well as demonstrate the performance of the whole system.
语种英语
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被引频次:4[WOS]   [WOS记录]     [WOS相关记录]
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/20027
专题机器人学研究室
通讯作者Liu, Y.
作者单位1.Department of Electrical and Computer Engineering Michigan State University, East Lansing, MI 48824, United States
2.Nanjing University of Science and Technology, Nanjing, China
3.Department of Electrical and Biomedical Engineering, University of Nevada, Reno, NV 89557, United States
4.Shenyang Institute of Automation, Chinese Academy of Science, Shenyang, China
5.ABB Corporate Research Center, ABB Inc., Windsor, CT 06095, United States
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GB/T 7714
Liu, Yong,Shen, Yantao,Xi N,et al. Rapid robot/workcell calibration using line-based approach[C]//TOYOTA; ABB; GM; QUALTECH SYSTEMS INC.; SPANSION. Piscataway, NJ, USA:IEEE Computer Society,2008:510-515.
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