Automatic Calibration of Robotic Manipulator
Robot calibration is an efficient way to improve the accuracy of robots. In earlier robot calibration which depends on dozen of manual measurements of the robot poses, the calibration procedure is less efficient. With the new measurement technologies like optical capture system, the laser tracker et...
| Main Authors: | , , |
|---|---|
| Other Authors: | |
| Format: | Conference Paper |
| Language: | English |
| Published: |
2016
|
| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/81408 http://hdl.handle.net/10220/40735 |
| _version_ | 1811684712391901184 |
|---|---|
| author | Yuan, Qilong Chen, I-Ming Lembono, Teguh Santoso |
| author2 | School of Mechanical and Aerospace Engineering |
| author_facet | School of Mechanical and Aerospace Engineering Yuan, Qilong Chen, I-Ming Lembono, Teguh Santoso |
| author_sort | Yuan, Qilong |
| collection | NTU |
| description | Robot calibration is an efficient way to improve the accuracy of robots. In earlier robot calibration which depends on dozen of manual measurements of the robot poses, the calibration procedure is less efficient. With the new measurement technologies like optical capture system, the laser tracker etc., the measurements of the robot poses can be conducted automatically. This paper introduced a fully automatic calibration process using the optical capture system as an example. To demonstrate the automatic calibration, the calibration process of a six-DOF modular robot using optical capture systems with eight cameras is conducted. A robot calibration method with minimal calibration parameters is applied for the calibration. Using the optical capture system with a position accuracy of about 1mm, the manipulating accuracy of the robot is increased from centimeter level to 3 mm after the calibration. With the advanced tracking technologies, such automatic calibration is nowadays very useful in avoiding the measurement errors from human and speeding up the manipulation process. |
| first_indexed | 2024-10-01T04:32:59Z |
| format | Conference Paper |
| id | ntu-10356/81408 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T04:32:59Z |
| publishDate | 2016 |
| record_format | dspace |
| spelling | ntu-10356/814082023-03-04T17:07:27Z Automatic Calibration of Robotic Manipulator Yuan, Qilong Chen, I-Ming Lembono, Teguh Santoso School of Mechanical and Aerospace Engineering Proceedings of 2014 IFTOMM Asian Conference on Mechanism And Machine Science Automatic Calibration Kinematics Industrial Robot Robot calibration is an efficient way to improve the accuracy of robots. In earlier robot calibration which depends on dozen of manual measurements of the robot poses, the calibration procedure is less efficient. With the new measurement technologies like optical capture system, the laser tracker etc., the measurements of the robot poses can be conducted automatically. This paper introduced a fully automatic calibration process using the optical capture system as an example. To demonstrate the automatic calibration, the calibration process of a six-DOF modular robot using optical capture systems with eight cameras is conducted. A robot calibration method with minimal calibration parameters is applied for the calibration. Using the optical capture system with a position accuracy of about 1mm, the manipulating accuracy of the robot is increased from centimeter level to 3 mm after the calibration. With the advanced tracking technologies, such automatic calibration is nowadays very useful in avoiding the measurement errors from human and speeding up the manipulation process. ASTAR (Agency for Sci., Tech. and Research, S’pore) Published version 2016-06-22T04:02:41Z 2019-12-06T14:30:19Z 2016-06-22T04:02:41Z 2019-12-06T14:30:19Z 2014 2014 Conference Paper Yuan, Q., Chen, I.-M., & Lembono, T. S. (2015). Automatic Calibration of Robotic Manipulator. Proceedings of 2014 IFTOMM Asian Conference on Mechanism And Machine Science. https://hdl.handle.net/10356/81408 http://hdl.handle.net/10220/40735 186230 en © 2014 The Author(s) (published by 2014 IFToMM Asian Conference on Mechanism and Machine Science). This paper was published in Proceedings of 2014 IFTOMM Asian Conference on Mechanism And Machine Science and is made available as an electronic reprint (preprint) with permission of 2014 IFToMM Asian Conference on Mechanism and Machine Science. One print or electronic copy may be made for personal use only. Systematic or multiple reproduction, distribution to multiple locations via electronic or other means, duplication of any material in this paper for a fee or for commercial purposes, or modification of the content of the paper is prohibited and is subject to penalties under law. 7 p. application/pdf |
| spellingShingle | Automatic Calibration Kinematics Industrial Robot Yuan, Qilong Chen, I-Ming Lembono, Teguh Santoso Automatic Calibration of Robotic Manipulator |
| title | Automatic Calibration of Robotic Manipulator |
| title_full | Automatic Calibration of Robotic Manipulator |
| title_fullStr | Automatic Calibration of Robotic Manipulator |
| title_full_unstemmed | Automatic Calibration of Robotic Manipulator |
| title_short | Automatic Calibration of Robotic Manipulator |
| title_sort | automatic calibration of robotic manipulator |
| topic | Automatic Calibration Kinematics Industrial Robot |
| url | https://hdl.handle.net/10356/81408 http://hdl.handle.net/10220/40735 |
| work_keys_str_mv | AT yuanqilong automaticcalibrationofroboticmanipulator AT cheniming automaticcalibrationofroboticmanipulator AT lembonoteguhsantoso automaticcalibrationofroboticmanipulator |