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Article: Position-sensitive detector (psd) guided servoing method for industrial robot calibration

TitlePosition-sensitive detector (psd) guided servoing method for industrial robot calibration
Authors
KeywordsPosition-sensitive detector (PSD)
Robot calibration
PSD-based servoing localization
PSD calibration fixture
Issue Date2009
Citation
International Journal of Optomechatronics, 2009, v. 3, n. 2, p. 116-132 How to Cite?
AbstractThis article presents our recently developed position-sensitive detector (PSD) guided servoing system for precise localization of industrial robots. The system is portable and affordable, and can position robot precisely so as to benefit further research on the calibration applications of industrial robots. To achieve highly precise position feedback, we have employed a high performance lateral-effect PSD with a resolution of 0.5 m. Based on the system kinematics and dynamics, a PSD guided servo (PSDGS) control method is then developed and simplified to be a planar motion control approach in which an on-line estimation of the transformation matrix between the PSD object and the robot base is applied. The experiments have been implemented on an ABB industrial robot IRB1600. The achieved results demonstrate that the mean localization precision of the industrial robot using the developed PSDGS method is totally better than 20 μm. © Taylor & Francis Group, LLC.
Persistent Identifierhttp://hdl.handle.net/10722/213078
ISSN
2015 Impact Factor: 0.627
2015 SCImago Journal Rankings: 0.360

 

DC FieldValueLanguage
dc.contributor.authorLiu, Yong-
dc.contributor.authorXi, Ning-
dc.contributor.authorShen, Yantao-
dc.contributor.authorLi, Xiongzi-
dc.contributor.authorZhang, George-
dc.contributor.authorFuhlbrigge, Thomas A.-
dc.date.accessioned2015-07-28T04:06:04Z-
dc.date.available2015-07-28T04:06:04Z-
dc.date.issued2009-
dc.identifier.citationInternational Journal of Optomechatronics, 2009, v. 3, n. 2, p. 116-132-
dc.identifier.issn1559-9612-
dc.identifier.urihttp://hdl.handle.net/10722/213078-
dc.description.abstractThis article presents our recently developed position-sensitive detector (PSD) guided servoing system for precise localization of industrial robots. The system is portable and affordable, and can position robot precisely so as to benefit further research on the calibration applications of industrial robots. To achieve highly precise position feedback, we have employed a high performance lateral-effect PSD with a resolution of 0.5 m. Based on the system kinematics and dynamics, a PSD guided servo (PSDGS) control method is then developed and simplified to be a planar motion control approach in which an on-line estimation of the transformation matrix between the PSD object and the robot base is applied. The experiments have been implemented on an ABB industrial robot IRB1600. The achieved results demonstrate that the mean localization precision of the industrial robot using the developed PSDGS method is totally better than 20 μm. © Taylor & Francis Group, LLC.-
dc.languageeng-
dc.relation.ispartofInternational Journal of Optomechatronics-
dc.subjectPosition-sensitive detector (PSD)-
dc.subjectRobot calibration-
dc.subjectPSD-based servoing localization-
dc.subjectPSD calibration fixture-
dc.titlePosition-sensitive detector (psd) guided servoing method for industrial robot calibration-
dc.typeArticle-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.doi10.1080/15599610902894584-
dc.identifier.scopuseid_2-s2.0-70449659483-
dc.identifier.volume3-
dc.identifier.issue2-
dc.identifier.spage116-
dc.identifier.epage132-
dc.identifier.eissn1559-9620-

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