Title :
Robot calibration based on multi-thread particle swarm optimization
Author :
Li, Aiguo ; Wu, Defeng ; Ma, Zi
Author_Institution :
Autom. Res. Center, Dalian Maritime Univ., Dalian
Abstract :
Main contributions include: (1) A platform composed of a structure-light vision sensor and a industrial robot is established for robot calibration. (2) Transform the robot calibration to an optimization problem through measuring a fixed point at different hand poses and positions. (3) A multi-thread particle swarm optimization algorithm is proposed and applied in robot kinematic parameter estimation. The effectiveness of the proposed method is validated by simulation.
Keywords :
calibration; end effectors; industrial manipulators; manipulator kinematics; particle swarm optimisation; industrial robot; multi-thread particle swarm optimization; optimization problem; robot calibration; robot kinematic parameter estimation; structure-light vision sensor; Calibration; Cameras; Equations; Particle swarm optimization; Robot kinematics; Robot sensing systems; Robot vision systems; Robotics and automation; Sensor systems; Service robots;
Conference_Titel :
Industrial Informatics, 2008. INDIN 2008. 6th IEEE International Conference on
Conference_Location :
Daejeon
Print_ISBN :
978-1-4244-2170-1
Electronic_ISBN :
1935-4576
DOI :
10.1109/INDIN.2008.4618143
