Calibration of the geometric parameters of robots without external sensors

Author

Khalil, W. ; Garcia, G. ; Delagard, J.F.

Author_Institution

Lab. d´´Autom., Nantes Univ., France

Volume

3

fYear

1995

fDate

21-27 May 1995

Firstpage

3039

Abstract

This paper presents a new method for the calibration of the geometric parameters of the links and tool of serial robots. The main characteristics of the method is that no external sensor is needed (only the position sensors of the joints are required), and that it can be put to practice quickly and precisely. The identifiable parameters given by the proposed method are compared with those of the classical method using an external position sensor. The algorithm has been applied to a Puma 560 robot using its standard control system. Some practical issues concerning the experimental results are given

Keywords

calibration; robot kinematics; sensors; Puma 560 robot; algorithm; calibration; control system; external position sensor; external sensors; geometric parameters; joints; position sensors; robots; serial robots; Calibration; Control systems; Manufacturing; Nonlinear equations; Position measurement; Predictive models; Robot control; Robot sensing systems; Sensor phenomena and characterization; Solid modeling;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on

Conference_Location

Nagoya

ISSN

1050-4729

Print_ISBN

0-7803-1965-6

Type

conf

DOI

10.1109/ROBOT.1995.525716

Filename

525716