Title :
Robot calibration by observing a virtual fixed point
Author :
Wang, Wenbiao ; Li, Aiguo ; Wu, Defeng
Author_Institution :
Sch. of Inf. Sci.&Technol., Dalian Maritime Univ., Dalian, China
Abstract :
An industrial robot calibration algorithm is presented, which uses a laser-stripe range finder. In the proposed method, the sensor is attached to the robot´s end-effector and the centre of a ball with known radius is regarded as a virtue point and the robot carries the sensor to measure this virtue point. The kinematic parameters of the robot are estimated due to the coordinates of the virtue point is invariable in robot base frame. An example verifies the effectiveness of the proposed method.
Keywords :
calibration; end effectors; industrial robots; laser ranging; robot kinematics; industrial robot calibration algorithm; laser-stripe range finder; robot base frame; robot end-effector; robot kinematic parameters; virtual fixed point; Calibration; Coordinate measuring machines; Information science; Laser modes; Laser theory; Manipulators; Robot kinematics; Robot sensing systems; Service robots; Surface emitting lasers;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2009 IEEE International Conference on
Conference_Location :
Guilin
Print_ISBN :
978-1-4244-4774-9
Electronic_ISBN :
978-1-4244-4775-6
DOI :
10.1109/ROBIO.2009.5420879
