DocumentCode
2195527
Title
Kinematic calibration of a re-configurable robot (RoboTwin)
Author
Juneja, Nitin ; Goldenberg, A.A.
Author_Institution
Celestica Inc., Canada
Volume
4
fYear
1997
fDate
20-25 Apr 1997
Firstpage
3178
Abstract
This paper presents the calibration methodology developed for calibrating the RoboTwin (a re-configurable robot system). A steel bar of known length is used for calibrating the robot. The length of the bar is calculated using the nominal robot geometry and compared with the actual length to determine the error in the length. A method is developed to express the error in the bar length in terms of the kinematic parameters of the robot. This error is then minimized using a least squares algorithm iteratively to determine the real robot parameters. The calibration results are presented for a 3 DOF robot system
Keywords
Jacobian matrices; calibration; geometry; least squares approximations; minimisation; parameter estimation; robots; 3 DOF robot system; RoboTwin; kinematic calibration; least squares algorithm; length error; nominal robot geometry; re-configurable robot; Calibration; Computational geometry; Couplings; DH-HEMTs; Equations; Grippers; Kinematics; Robotic assembly; Robotics and automation; Robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location
Albuquerque, NM
Print_ISBN
0-7803-3612-7
Type
conf
DOI
10.1109/ROBOT.1997.606772
Filename
606772
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