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Development and sensitivity analysis of a portable calibration system for joint offset of industrial robot
Liu Y(刘永); Xi N(席宁); Zhao, Jianguo; Nieves-Rivera, Erick; Jia, Yunyi; Gao, Bingtuan; Lu, Jun
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
Pages3838-3843
Indexed ByEI ; CPCI(ISTP)
EI Accession number20100712703848
WOS IDWOS:000285372902006
Contribution Rank2
ISBN978-1-4244-3803-7
KeywordRobot Joint Offset Calibration Sensitivity Development
AbstractThis 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.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/20041
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
Recommended Citation
GB/T 7714
Liu Y,Xi N,Zhao, Jianguo,et al. Development and sensitivity analysis of a portable calibration system for joint offset of industrial robot[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,2009:3838-3843.
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