Calibrating a multi-manipulator robotic system

被引：23

作者：

Bonitz, RG ^{[1
]}

Hsia, TC ^{[1
]}

机构：

[1] UNIV CALIF DAVIS,DEPT ELECT & COMP ENGN,SYST CONTROL & ROBOT LAB,DAVIS,CA 95616

来源：

IEEE ROBOTICS & AUTOMATION MAGAZINE | 1997年 / 4卷 / 01期

关键词：

calibration; robot; multi-manipulator; multi-arm;

D O I：

10.1109/100.580975

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A simple, but effective, method of calibrating a multi-manipulator robotic system is introduced, The algorithm uses precisely machined calibration plates which are inexpensive to manufacture and require no measuring instrumentation. The method is tested on a dual-arm system which resulted in an order of magnitude reduction in the pose error Coordinated dual-arm manipulation experiments are conducted using the calibrated kinematic model to validate the usefulness of the calibration process.

引用

页码：18 / 22

页数：5

共 9 条

[1] [Anonymous], 1993, ROBOT CALIBRATION
[2] AUTONOMOUS CALIBRATION OF SINGLE-LOOP CLOSED KINEMATIC CHAINS FORMED BY MANIPULATORS WITH PASSIVE END-POINT CONSTRAINTS
BENNETT, DJ
HOLLERBACH, JM
[J]. IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1991, 7 (05): : 597 - 606
[3] BONITZ R, 1996, P IEEE INT C ROB AUT
[4] AUTOMATED PARTIAL POSE MEASUREMENT SYSTEM FOR MANIPULATOR CALIBRATION EXPERIMENTS
DRIELS, MR
SWAYZE, WE
[J]. IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1994, 10 (04): : 430 - 440
[5] Fu K. s., 1987, Robotics: Control, Sensing, Vision
[6] FUNDA J, 1990, IEEE T ROBOTIC AUTOM, V3, P382
[7] *MATHW INC, 1992, OPT TOOLBOX US MATLA
[8] Mooring B. W., 1991, Fundamentals of Manipulator Calibration
[9] TARN TJ, 1991, SSMRL9115 WASH U DEP

← 1 →