Kinematic calibration and geometrical parameter identification for robots

Author

Renders, Jean-Michel ; Rossignol, Eric ; Becquet, Marc ; Hanus, Raymond

Author_Institution

Arc Robotique, Univ. Libre de Bruxelles, Brussels, Belgium

Volume

7

Issue

6

fYear

1991

fDate

12/1/1991 12:00:00 AM

Firstpage

721

Lastpage

732

Abstract

A technique is presented for the calibration of robots based on a maximum-likelihood approach for the identification of geometrical errors. A new experimental setup is presented for measurement of the end-reflector position errors. The errors of position and orientation of the measuring device are included in the algorithm and identified. Tests have been carried out on a robot with six degrees of freedom. Tests show that this technique can reduce the mean error distance by a factor of more than 15. Compensation algorithms are presented, based on the improved knowledge of the geometrical model

Keywords

calibration; compensation; error analysis; identification; kinematics; position control; robots; geometrical errors; geometrical parameter identification; kinematic calibration; maximum-likelihood; mean error distance; position errors; robots; Calibration; Computational geometry; Design automation; Kinematics; Parameter estimation; Position measurement; Robot control; Robot programming; Solid modeling; Testing;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.105381

Filename

105381