Radkhah, Kathayon ; Hemker, Thomas ; Stryk, Oskar von (2008)
A Novel Self-Calibration Method for Industrial Robots Incorporating Geometric and Nongeometric Effects.
Takamatsu, Japan
Konferenzveröffentlichung, Bibliographie
Kurzbeschreibung (Abstract)
We propose a novel problem formulation for the solution of the nonlinear least squares appearing in the static calibration of the parameters of an industrial robot with rotational joints. A further contribution of the presented work is the use of an extended forward kinematic model incorporating both geometric and nongeometric parameters. These novelties facilitate the use of industrial robots as measurement systems. Both the automobile and the general industry are interested in the use of highly accurate robots that can be deployed as measurement instruments, e.g. for noticing incorrectly welded points early in the production process. Existing approaches are disadvantageous because of (1) the use of additional external measurement systems, and (2) the difficult, time-consuming, and cost-intensive determination of the robot base. Instead of absolute measurement data, we make use of relative measurement data by means of a camera attached to the robot flange. In tests based on data generated from simulation of a real experimental setup, we obtain absolute accuracies after calibration better than $\unit[100]$This work lays the foundations for a cost-minimal and effective realization of a robot as a measurement instrument.
| Typ des Eintrags: | Konferenzveröffentlichung |
|---|---|
| Erschienen: | 2008 |
| Autor(en): | Radkhah, Kathayon ; Hemker, Thomas ; Stryk, Oskar von |
| Art des Eintrags: | Bibliographie |
| Titel: | A Novel Self-Calibration Method for Industrial Robots Incorporating Geometric and Nongeometric Effects |
| Sprache: | Englisch |
| Publikationsjahr: | August 2008 |
| Ort: | Takamatsu, Japan |
| Buchtitel: | Proc. IEEE International Conference on Mechatronics and Automation (ICMA) |
| Veranstaltungsort: | Takamatsu, Japan |
| URL / URN: | https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=4798870... |
| Kurzbeschreibung (Abstract): | We propose a novel problem formulation for the solution of the nonlinear least squares appearing in the static calibration of the parameters of an industrial robot with rotational joints. A further contribution of the presented work is the use of an extended forward kinematic model incorporating both geometric and nongeometric parameters. These novelties facilitate the use of industrial robots as measurement systems. Both the automobile and the general industry are interested in the use of highly accurate robots that can be deployed as measurement instruments, e.g. for noticing incorrectly welded points early in the production process. Existing approaches are disadvantageous because of (1) the use of additional external measurement systems, and (2) the difficult, time-consuming, and cost-intensive determination of the robot base. Instead of absolute measurement data, we make use of relative measurement data by means of a camera attached to the robot flange. In tests based on data generated from simulation of a real experimental setup, we obtain absolute accuracies after calibration better than $\unit[100]$This work lays the foundations for a cost-minimal and effective realization of a robot as a measurement instrument. |
| Fachbereich(e)/-gebiet(e): | 20 Fachbereich Informatik 20 Fachbereich Informatik > Simulation, Systemoptimierung und Robotik |
| Hinterlegungsdatum: | 20 Jun 2016 23:26 |
| Letzte Änderung: | 06 Mai 2019 09:46 |
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