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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.
Conference Name4th IEEE Conference on Automation Science and Engineering, CASE 2008
Conference DateAugust 23-26, 2008
Conference PlaceWashington, DC, USA
Source Publication4th IEEE Conference on Automation Science and Engineering, CASE 2008
PublisherIEEE Computer Society
Publication PlacePiscataway, NJ, USA
Indexed ByEI ; CPCI(ISTP)
EI Accession number20084511677474
WOS IDWOS:000261320400084
Contribution Rank3
AbstractThis 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.
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Cited Times:6[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Corresponding AuthorLiu, Y.
Affiliation1.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
Recommended Citation
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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