A New Full Pose Measurement Method for Robot Calibration
Identification of robot kinematic errors during the calibration process often requires accurate full pose measurements (position and orientation) of robot end-effectors in Cartesian space. This paper proposes a new method of full pose measurement of robot end-effectors for calibration. This method i...
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doaj-1e72718aefa24c39b486095f47d1d8df2020-11-25T00:17:55ZengMDPI AGSensors1424-82202013-07-011379132914710.3390/s130709132A New Full Pose Measurement Method for Robot CalibrationHee-Jun KangJian ZhouHoai-Nhan NguyenIdentification of robot kinematic errors during the calibration process often requires accurate full pose measurements (position and orientation) of robot end-effectors in Cartesian space. This paper proposes a new method of full pose measurement of robot end-effectors for calibration. This method is based on an analysis of the features of a set of target points (placed on a rotating end-effector) on a circular trajectory. The accurate measurement is validated by computational simulation results from the Puma robot. Moreover, experimental calibration and validation results for the Hyundai HA-06 robot prove the effectiveness, correctness, and reliability of the proposed method. This method can be applied to robots that have entirely revolute joints or to robots for which only the last joint is revolute.http://www.mdpi.com/1424-8220/13/7/9132full pose measurementrobotic manipulatorrobot calibration |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Hee-Jun Kang Jian Zhou Hoai-Nhan Nguyen |
spellingShingle |
Hee-Jun Kang Jian Zhou Hoai-Nhan Nguyen A New Full Pose Measurement Method for Robot Calibration Sensors full pose measurement robotic manipulator robot calibration |
author_facet |
Hee-Jun Kang Jian Zhou Hoai-Nhan Nguyen |
author_sort |
Hee-Jun Kang |
title |
A New Full Pose Measurement Method for Robot Calibration |
title_short |
A New Full Pose Measurement Method for Robot Calibration |
title_full |
A New Full Pose Measurement Method for Robot Calibration |
title_fullStr |
A New Full Pose Measurement Method for Robot Calibration |
title_full_unstemmed |
A New Full Pose Measurement Method for Robot Calibration |
title_sort |
new full pose measurement method for robot calibration |
publisher |
MDPI AG |
series |
Sensors |
issn |
1424-8220 |
publishDate |
2013-07-01 |
description |
Identification of robot kinematic errors during the calibration process often requires accurate full pose measurements (position and orientation) of robot end-effectors in Cartesian space. This paper proposes a new method of full pose measurement of robot end-effectors for calibration. This method is based on an analysis of the features of a set of target points (placed on a rotating end-effector) on a circular trajectory. The accurate measurement is validated by computational simulation results from the Puma robot. Moreover, experimental calibration and validation results for the Hyundai HA-06 robot prove the effectiveness, correctness, and reliability of the proposed method. This method can be applied to robots that have entirely revolute joints or to robots for which only the last joint is revolute. |
topic |
full pose measurement robotic manipulator robot calibration |
url |
http://www.mdpi.com/1424-8220/13/7/9132 |
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