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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.
作者部门机器人学研究室
会议名称2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009)
会议日期October 11-15, 2009
会议地点St Louis, MO, USA
会议主办者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
会议录名称2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009)
出版者IEEE Computer Society
出版地Piscataway, NJ, USA
2009
页码715-720
收录类别EI ; CPCI(ISTP)
EI收录号20100712704198
WOS记录号WOS:000285372900124
产权排序2
ISBN号978-1-4244-3803-7
关键词Robot Offset Calibration Virtual Lines-based Single-point Constraint
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.
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/173321/20040
专题机器人学研究室
通讯作者Liu Y(刘永)
作者单位1.Department of Electrical and Computer Engineering, 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
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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.
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