Title :
Verification of kinematics parameters of manipulating systems using contact-less measurement system, based on laser interferometry
Author :
Klimasara, W. ; Pilat, Z. ; Stasiak, T.
Author_Institution :
Ind. Res. Inst. for Autom. & Meas., Warsaw, Poland
Abstract :
The general concept of calibration using the multifunctional interferometric laser measurement system called ROBOTEST, is presented. The system characteristics that are crucial when applying it to calibration of manipulation systems are described. A series of tests have been conducted in order to verify the system data given by the manufacturer; it has helped to find out which options of ROBOTEST to use for calibration purposes. The presented concept has been implemented in the first practical experiments for calibrating industrial robot URP-6 and a CNC bevelling machine
Keywords :
calibration; light interferometry; manipulator kinematics; measurement by laser beam; parameter estimation; CNC bevelling machine; ROBOTEST; URP-6 industrial robot; calibration; contactless measurement system; kinematics parameters; laser interferometry; manipulating systems; Automatic testing; Calibration; Kinematics; Orbital robotics; Position measurement; Robot sensing systems; Robotics and automation; Sensor systems; Service robots; System testing;
Conference_Titel :
Robot Motion and Control, 2001 Proceedings of the Second International Workshop on
Conference_Location :
Bukowy Dworek
Print_ISBN :
83-7143-515-0
DOI :
10.1109/ROMOCO.2001.973427
