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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
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3838-3843
收录类别EI ; CPCI(ISTP)
EI收录号20100712703848
WOS记录号WOS:000285372902006
产权排序2
ISBN号978-1-4244-3803-7
关键词Robot Joint Offset Calibration Sensitivity Development
摘要This 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.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/20041
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
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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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