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Conference Paper: Adaptive alignment control for a dual-PSD based industrial robot calibration system

TitleAdaptive alignment control for a dual-PSD based industrial robot calibration system
Authors
Issue Date2015
PublisherIEEE. The Journal's web site is located at http://ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1000856
Citation
The 2015 IEEE International Conference on Robotics and Biomimetics (IEEE-ROBIO 2015), Zhuhai, China, 6-9 December 2015. In Conference Proceedings, 2015, p. 1247-1252 How to Cite?
AbstractCalibration plays an important role in industrial robots. Traditional ways are time consuming and also involve a lot of human efforts. We have proposed a dual-PSD (Position Sensitive Device) method to automatically accomplish the calibration in several minutes. The alignment control problem is the major issue in the calibration process, which requires to move a laser pointer mounted on the robot's end-effector to shoot the laser beam at one PSD center and reflect to another PSD center. This paper proposes an adaptive control method to solve the alignment problem. It can online estimate the unknown parameters between the robot base frame and the PSD frame, which are usually required before the alignment control. The advantage of the approach is that we do not need to calculate or estimate these parameters before the alignment control so it can further facilitate the automated calibration process. The effectiveness and advantages of the method is demonstrated through simulation results. © 2015 IEEE.
Persistent Identifierhttp://hdl.handle.net/10722/235009
ISBN

 

DC FieldValueLanguage
dc.contributor.authorDeng, Z-
dc.contributor.authorJia, Y-
dc.contributor.authorBao, J-
dc.contributor.authorSu, C-
dc.contributor.authorCheng, Y-
dc.contributor.authorXi, N-
dc.date.accessioned2016-10-14T13:50:41Z-
dc.date.available2016-10-14T13:50:41Z-
dc.date.issued2015-
dc.identifier.citationThe 2015 IEEE International Conference on Robotics and Biomimetics (IEEE-ROBIO 2015), Zhuhai, China, 6-9 December 2015. In Conference Proceedings, 2015, p. 1247-1252-
dc.identifier.isbn978-146739674-5-
dc.identifier.urihttp://hdl.handle.net/10722/235009-
dc.description.abstractCalibration plays an important role in industrial robots. Traditional ways are time consuming and also involve a lot of human efforts. We have proposed a dual-PSD (Position Sensitive Device) method to automatically accomplish the calibration in several minutes. The alignment control problem is the major issue in the calibration process, which requires to move a laser pointer mounted on the robot's end-effector to shoot the laser beam at one PSD center and reflect to another PSD center. This paper proposes an adaptive control method to solve the alignment problem. It can online estimate the unknown parameters between the robot base frame and the PSD frame, which are usually required before the alignment control. The advantage of the approach is that we do not need to calculate or estimate these parameters before the alignment control so it can further facilitate the automated calibration process. The effectiveness and advantages of the method is demonstrated through simulation results. © 2015 IEEE.-
dc.languageeng-
dc.publisherIEEE. The Journal's web site is located at http://ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1000856-
dc.relation.ispartofIEEE International Conference on Robotics and Biomimetics Proceedings-
dc.rightsIEEE International Conference on Robotics and Biomimetics Proceedings. Copyright © IEEE.-
dc.rights©2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.-
dc.titleAdaptive alignment control for a dual-PSD based industrial robot calibration system-
dc.typeConference_Paper-
dc.identifier.emailXi, N: xining@hku.hk-
dc.identifier.authorityXi, N=rp02044-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.doi10.1109/ROBIO.2015.7418942-
dc.identifier.scopuseid_2-s2.0-84964515531-
dc.identifier.hkuros269341-
dc.identifier.spage1247-
dc.identifier.epage1252-
dc.publisher.placeUnited States-
dc.customcontrol.immutablesml 161019-

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