Rapid robot/workcell calibration using line-based 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

	Rapid robot/workcell calibration using line-based approach
	Liu, Yong ; Shen, Yantao ; Yang, Ruiguo ; Li, Xiongzi ; Zhang, George ; Fuhlbrigge, Thomas A.; Liu, Y.
	2008
会议日期	August 23-26, 2008
会议地点	Washington, DC, USA
页码	510-515
英文摘要	This paper presents a new line-based calibration method for automatically computing the transformation relationship between industrial robots and workcell. The calibration method mainly depends on the position-sensitive detector (PSD) servo control of the robots. The developed servo controller allows precisely positioning the laser beam (line) from a single laser pointer attached at the end-effector of robot onto the center of the PSD in a well-designed lateral-effect PSDs fixture. The selected PSD in the fixture has high performance with the resolution of 0.5μ. Once the precision localizations/positioning in the centers of multiple PSDs are achieved, the group of points in the robot base frame and workcell frame can be generated by using the intersection of laser beams (lines) and by using the predefined fixture-workcell information, respectively. A quaternion algorithm and the least square method are then employed to determine the transformation relationship between robot base frame and workcell frame. The experiments have been implemented on an ABB industrial robot IRB1600, the results verify the effectiveness of both the PSD servoing and the line-based calibration method as well as demonstrate the performance of the whole system.
源文献作者	TOYOTA; ABB; GM; QUALTECH SYSTEMS INC.; SPANSION
产权排序	3
会议录	4th IEEE Conference on Automation Science and Engineering, CASE 2008
会议录出版者	IEEE Computer Society
会议录出版地	Piscataway, NJ, USA
语种	英语
ISBN号	978-1-4244-2023-0
WOS记录号	WOS:000261320400084
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/20027]
专题	沈阳自动化研究所_机器人学研究室
作者单位	1.Department of Electrical and Computer Engineering Michigan State University, East Lansing, MI 48824, United States 2.Nanjing University of Science and Technology, Nanjing, China 3.Department of Electrical and Biomedical Engineering, University of Nevada, Reno, NV 89557, United States 4.Shenyang Institute of Automation, Chinese Academy of Science, Shenyang, China 5.ABB Corporate Research Center, ABB Inc., Windsor, CT 06095, United States
推荐引用方式 GB/T 7714	Liu, Yong,Shen, Yantao,Yang, Ruiguo,et al. Rapid robot/workcell calibration using line-based approach[C]. 见:. Washington, DC, USA. August 23-26, 2008.