A Rapid Coordinate Transformation Method Applied in Industrial Robot Calibration Based on Characteristic Line Coincidence
Coordinate transformation plays an indispensable role in industrial measurements, including photogrammetry, geodesy, laser 3-D measurement and robotics. The widely applied methods of coordinate transformation are generally based on solving the equations of point clouds. Despite the high accuracy, th...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2016-02-01
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| Series: | Sensors |
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| Online Access: | http://www.mdpi.com/1424-8220/16/2/239 |
| _version_ | 1818015692145819648 |
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| author | Bailing Liu Fumin Zhang Xinghua Qu Xiaojia Shi |
| author_facet | Bailing Liu Fumin Zhang Xinghua Qu Xiaojia Shi |
| author_sort | Bailing Liu |
| collection | DOAJ |
| description | Coordinate transformation plays an indispensable role in industrial measurements, including photogrammetry, geodesy, laser 3-D measurement and robotics. The widely applied methods of coordinate transformation are generally based on solving the equations of point clouds. Despite the high accuracy, this might result in no solution due to the use of ill conditioned matrices. In this paper, a novel coordinate transformation method is proposed, not based on the equation solution but based on the geometric transformation. We construct characteristic lines to represent the coordinate systems. According to the space geometry relation, the characteristic line scan is made to coincide by a series of rotations and translations. The transformation matrix can be obtained using matrix transformation theory. Experiments are designed to compare the proposed method with other methods. The results show that the proposed method has the same high accuracy, but the operation is more convenient and flexible. A multi-sensor combined measurement system is also presented to improve the position accuracy of a robot with the calibration of the robot kinematic parameters. Experimental verification shows that the position accuracy of robot manipulator is improved by 45.8% with the proposed method and robot calibration. |
| first_indexed | 2024-04-14T07:00:58Z |
| format | Article |
| id | doaj.art-19f3fb7ff9224f1982f560bc89bd28f0 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-14T07:00:58Z |
| publishDate | 2016-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-19f3fb7ff9224f1982f560bc89bd28f02022-12-22T02:06:45ZengMDPI AGSensors1424-82202016-02-0116223910.3390/s16020239s16020239A Rapid Coordinate Transformation Method Applied in Industrial Robot Calibration Based on Characteristic Line CoincidenceBailing Liu0Fumin Zhang1Xinghua Qu2Xiaojia Shi3State Key Laboratory of Precision Measuring Technology and Instruments, Tianjin University, Tianjin 300072, ChinaState Key Laboratory of Precision Measuring Technology and Instruments, Tianjin University, Tianjin 300072, ChinaState Key Laboratory of Precision Measuring Technology and Instruments, Tianjin University, Tianjin 300072, ChinaState Key Laboratory of Precision Measuring Technology and Instruments, Tianjin University, Tianjin 300072, ChinaCoordinate transformation plays an indispensable role in industrial measurements, including photogrammetry, geodesy, laser 3-D measurement and robotics. The widely applied methods of coordinate transformation are generally based on solving the equations of point clouds. Despite the high accuracy, this might result in no solution due to the use of ill conditioned matrices. In this paper, a novel coordinate transformation method is proposed, not based on the equation solution but based on the geometric transformation. We construct characteristic lines to represent the coordinate systems. According to the space geometry relation, the characteristic line scan is made to coincide by a series of rotations and translations. The transformation matrix can be obtained using matrix transformation theory. Experiments are designed to compare the proposed method with other methods. The results show that the proposed method has the same high accuracy, but the operation is more convenient and flexible. A multi-sensor combined measurement system is also presented to improve the position accuracy of a robot with the calibration of the robot kinematic parameters. Experimental verification shows that the position accuracy of robot manipulator is improved by 45.8% with the proposed method and robot calibration.http://www.mdpi.com/1424-8220/16/2/239coordinate transformationrobot calibrationphotogrammetric systemmulti-sensor measurement system |
| spellingShingle | Bailing Liu Fumin Zhang Xinghua Qu Xiaojia Shi A Rapid Coordinate Transformation Method Applied in Industrial Robot Calibration Based on Characteristic Line Coincidence Sensors coordinate transformation robot calibration photogrammetric system multi-sensor measurement system |
| title | A Rapid Coordinate Transformation Method Applied in Industrial Robot Calibration Based on Characteristic Line Coincidence |
| title_full | A Rapid Coordinate Transformation Method Applied in Industrial Robot Calibration Based on Characteristic Line Coincidence |
| title_fullStr | A Rapid Coordinate Transformation Method Applied in Industrial Robot Calibration Based on Characteristic Line Coincidence |
| title_full_unstemmed | A Rapid Coordinate Transformation Method Applied in Industrial Robot Calibration Based on Characteristic Line Coincidence |
| title_short | A Rapid Coordinate Transformation Method Applied in Industrial Robot Calibration Based on Characteristic Line Coincidence |
| title_sort | rapid coordinate transformation method applied in industrial robot calibration based on characteristic line coincidence |
| topic | coordinate transformation robot calibration photogrammetric system multi-sensor measurement system |
| url | http://www.mdpi.com/1424-8220/16/2/239 |
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