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A Novel Self-Calibration Method for Industrial Robots Incorporating Geometric and Nongeometric Effects

Radkhah, Kathayon and Hemker, Thomas and Stryk, Oskar von (2008):
A Novel Self-Calibration Method for Industrial Robots Incorporating Geometric and Nongeometric Effects.
In: Proc. IEEE International Conference on Mechatronics and Automation (ICMA), Takamatsu, Japan, Takamatsu, Japan, [Online-Edition: https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=4798870...],
[Conference or Workshop Item]

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.

Item Type: Conference or Workshop Item
Erschienen: 2008
Creators: Radkhah, Kathayon and Hemker, Thomas and Stryk, Oskar von
Title: A Novel Self-Calibration Method for Industrial Robots Incorporating Geometric and Nongeometric Effects
Language: English
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.

Title of Book: Proc. IEEE International Conference on Mechatronics and Automation (ICMA)
Place of Publication: Takamatsu, Japan
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Event Location: Takamatsu, Japan
Date Deposited: 20 Jun 2016 23:26
Official URL: https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=4798870...
Identification Number: radkhah:2008
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