An automated method to calibrate industrial robot joint offset using virtual line-based single-point constraint approach

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	An automated method to calibrate industrial robot joint offset using virtual line-based single-point constraint approach
	Liu Y(刘永); Xi N(席宁); Zhang, George; Li, Xiongzi; Chen, Heping; Zhang, Chi; Jeffery, Michael J.; Fuhlbrigge, Thomas A.
	2009
会议名称	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009)
会议日期	October 11-15, 2009
会议地点	St Louis, MO, USA
关键词	robot offset calibration virtual lines-based single-point constraint
页码	715-720
通讯作者	刘永
中文摘要	This paper describes an industrial robot joint offset calibration method called the virtual line-based single-point constraint approach. Previous methods such as using CMM, laser trackers or cameras are limited by the cost or the resolution. The proposed method relies mainly upon a laser pointer attached on the end-effector and single position-sensitive detector (PSD) arbitrarily located on the workcell. The automated calibration procedure (about three minutes) involves aiming the laser lines loaded by the robot towards the center of the PSD surface from various robot positions and orientations. The intersections of each pair of laser lines eventually should converge to the same point after compensating the joint offsets. An optimization model and algorithm have been formulated to identify the robot offset. For the highly precise feedback, a segmented PSD with a position resolution of better than 0.1 μm is employed. The mean accuracy of robot localization is up to 0.02 mm, and the mean error of the parameter identification is less than 0.08 degrees. Both simulations and experiments implemented on an ABB industrial robot verify the feasibility of the proposed method and demonstrated the effectiveness of the developed calibration system. The goal of fast, automated, low-cost, and high precision offset calibration are achieved. © 2009 IEEE.
收录类别	EI ; CPCI（ISTP）
产权排序	2
会议主办者	IEEE Robot & Automat Soc (RA), Robot Soc Japan (RSJ), Soc Instruments & Control Engn, IEEE Ind Elect Soc, Inst Control, Robot & Syst Korea, ABB, Barrett Technol, Inc, Willow Garage, ROBOTIS, Aldebaran Robot
会议录	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009)
会议录出版者	IEEE Computer Society
会议录出版地	Piscataway, NJ, USA
语种	英语
ISBN号	978-1-4244-3803-7
WOS记录号	WOS:000285372900124
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/20040]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Liu Y,Xi N,Zhang, George,et al. An automated method to calibrate industrial robot joint offset using virtual line-based single-point constraint approach[C]. 见:2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009). St Louis, MO, USA. October 11-15, 2009.