File Download

There are no files associated with this item.

  Links for fulltext
     (May Require Subscription)
Supplementary

Conference Paper: An automated method to calibrate industrial robot joint offset using virtual line-based single-point constraint approach

TitleAn automated method to calibrate industrial robot joint offset using virtual line-based single-point constraint approach
Authors
KeywordsVirtual lines-based
Robot
Offset calibration
Single-point constraint
Issue Date2009
Citation
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, 2009, p. 715-720 How to Cite?
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.
Persistent Identifierhttp://hdl.handle.net/10722/213090

 

DC FieldValueLanguage
dc.contributor.authorLiu, Yong-
dc.contributor.authorXi, Ning-
dc.contributor.authorZhang, George-
dc.contributor.authorLi, Xiongzi-
dc.contributor.authorChen, Heping-
dc.contributor.authorZhang, Chi-
dc.contributor.authorJeffery, Michael J.-
dc.contributor.authorFuhlbrigge, Thomas A.-
dc.date.accessioned2015-07-28T04:06:06Z-
dc.date.available2015-07-28T04:06:06Z-
dc.date.issued2009-
dc.identifier.citation2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, 2009, p. 715-720-
dc.identifier.urihttp://hdl.handle.net/10722/213090-
dc.description.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.-
dc.languageeng-
dc.relation.ispartof2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009-
dc.subjectVirtual lines-based-
dc.subjectRobot-
dc.subjectOffset calibration-
dc.subjectSingle-point constraint-
dc.titleAn automated method to calibrate industrial robot joint offset using virtual line-based single-point constraint approach-
dc.typeConference_Paper-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.doi10.1109/IROS.2009.5354312-
dc.identifier.scopuseid_2-s2.0-76249097439-
dc.identifier.spage715-
dc.identifier.epage720-

Export via OAI-PMH Interface in XML Formats


OR


Export to Other Non-XML Formats