SIA OpenIR  > 机器人学研究室
An automated method to calibrate industrial robot joint offset using virtual line-based single-point constraint approach
Liu Y(刘永); Xi N(席宁); Zhang, George; Li, Xiongzi; Chen, Heping; Zhang, Chi; Jeffery, Michael J.; Fuhlbrigge, Thomas A.
Department机器人学研究室
Conference Name2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009)
Conference DateOctober 11-15, 2009
Conference PlaceSt Louis, MO, USA
Author of SourceIEEE 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
Source Publication2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009)
PublisherIEEE Computer Society
Publication PlacePiscataway, NJ, USA
2009
Pages715-720
Indexed ByEI ; CPCI(ISTP)
EI Accession number20100712704198
WOS IDWOS:000285372900124
Contribution Rank2
ISBN978-1-4244-3803-7
KeywordRobot Offset Calibration Virtual Lines-based Single-point Constraint
AbstractThis 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.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/20040
Collection机器人学研究室
Corresponding AuthorLiu Y(刘永)
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.Shenyang Institute of Automation, Chinese Academy of Science, Shenyang, China
4.Department of Electrical and Computer Engineering, United States
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
Recommended Citation
GB/T 7714
Liu Y,Xi N,Zhang, George,et al. An automated method to calibrate industrial robot joint offset using virtual line-based single-point constraint approach[C]//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. Piscataway, NJ, USA:IEEE Computer Society,2009:715-720.
Files in This Item: Download All
File Name/Size DocType Version Access License
An automated method (360KB)会议论文 开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Liu Y(刘永)]'s Articles
[Xi N(席宁)]'s Articles
[Zhang, George]'s Articles
Baidu academic
Similar articles in Baidu academic
[Liu Y(刘永)]'s Articles
[Xi N(席宁)]'s Articles
[Zhang, George]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Liu Y(刘永)]'s Articles
[Xi N(席宁)]'s Articles
[Zhang, George]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: An automated method to calibrate industrial robot joint offset using virtual line-based single-point constraint approach.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.