AUTOMATED PARTIAL POSE MEASUREMENT SYSTEM FOR MANIPULATOR CALIBRATION EXPERIMENTS

被引：41
作者：
DRIELS, MR
SWAYZE, WE
机构：
[1] Department of Mechanical Engineering, Naval Postgraduate School, Monterey, Monterey
来源：
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1994年 / 10卷 / 04期
关键词：
D O I：
10.1109/70.313094
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The work reported here is concerned with methods used to provide partial pose data for robot calibration tests. Rather than focussing on traditional, precision measurement techniques, the paper discusses calibration using end point motion constraints of various kinds. The preferred method consists of using a wire potentiometer attached to the robot tool by means of two specially designed fixtures. Suitable modeling of the measurement system as well as the internal kinematics of the manipulator allows simulation of the calibration process. Experimental results obtained in the calibration of an industrial manipulator is presented, and means to make the complete calibration process automatic is discussed.
引用
收藏
页码：430 / 440
页数：11
相关论文
共 27 条
[1]   AUTONOMOUS CALIBRATION OF SINGLE-LOOP CLOSED KINEMATIC CHAINS FORMED BY MANIPULATORS WITH PASSIVE END-POINT CONSTRAINTS [J].
BENNETT, DJ ;
HOLLERBACH, JM .
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1991, 7 (05) :597-606
[2]  
BENNETT DJ, 1988, 27TH P IEEE C DEC CO, P627
[3]  
BENNETT DJ, 1989, MAY P IEEE INT C ROB, P580
[4]  
CHEN J, 1986, 1986 P IEEE INT C RO, P1011
[5]  
Dahlquist G., 1974, NUMERICAL METHODS
[6]  
Denavit J., 1955, J APPL MECH, V22, P215
[7]  
DRIELS M, IN PRESS T ASME
[8]  
DRIELS M, IN PRESS IEEE T ROBO
[9]   SIGNIFICANCE OF OBSERVATION STRATEGY ON THE DESIGN OF ROBOT CALIBRATION EXPERIMENTS [J].
DRIELS, MR ;
PATHRE, US .
JOURNAL OF ROBOTIC SYSTEMS, 1990, 7 (02) :197-223
[10]   THE THEORY OF KINEMATIC PARAMETER-IDENTIFICATION FOR INDUSTRIAL ROBOTS [J].
EVERETT, LJ ;
HSU, TW .
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 1988, 110 (01) :96-100
123