| Robot Calibration Using Active Vision-based Measurement |
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| 作者姓名： | 郭剑鹰 张家梁 吕恬生 |
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| 作者单位： | [1]SchoolofMechanicalEngineering,ShanghaiJiaotongUniversity,Shanghai,200030 [2]SchoolofMechanicalEngineering,DonghuaUniversity,Shanghai,200051 |
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| 摘 要： | This paper presents an efficient robot calibration method with non-contact vision metrology. Using the coplanar pattern to calibrate camera made the active-vision-based end-effector pose measurement be a feasible and cost-effective way. Kinematic parameter errors were linearized and identified through two-step procedure, thus the singular and non-linear condition was overcome. These errors were then compensated using inverse model method. The whole calibration process is flexible, easy to implement and prevents the error propagation from the earlier stages to the later ones. Calibration was performed on MOTOMAN SV3 industrial robot. Experiment results show that the proposed method is easy to setup and with satisfactory accuracy.
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| 关 键 词： | 机器人校准 姿态测量 误差识别 误差补偿 运动学 无触点视觉测量 |
Robot Calibration Using Active Vision-based Measurement |
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| GUO Jian-ying,ZHANG Jia-liang L Tian-sheng School of Mechanical Engineering,Shanghai Jiao tong University,Shanghai, School of Mechanical Engineering,Donghua University,Shanghai.Robot Calibration Using Active Vision-based Measurement[J].Journal of Donghua University,2004,21(1):7-12. |
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| Authors: | GUO Jian-ying ZHANG Jia-liang L Tian-sheng School of Mechanical Engineering Shanghai Jiao tong University Shanghai School of Mechanical Engineering Donghua University Shanghai |
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| Institution: | 1. School of Mechanical Engineering, Shanghai Jiao tong University, Shanghai, 200030
2. School of Mechanical Engineering, Donghua University, Shanghai, 200051 |
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| Abstract: | This paper presents an efficient robot calibration method with non-contact vision metrology. Using the coplanar pattern to calibrate camera made the active-vision-based end-effector pose measurement be a feasible and costeffective way. Kinematic parameter errors were linearized and identified through two-step procedure, thus the singular and non-linear condition was overcome. These errors were then compensated using inverse model method. The whole calibration process is flexible, easy to implement and prevents the error propagation from the earlier stages to the later ones. Calibration was performed on MOTOMAN SV3 industrial robot. Experiment results show that the proposed method is easy to setup and with satisfactory accuracy. |
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| Keywords: | robot calibration pose measurement error identification kinematic error compensation |
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