Robot Calibration Using Active Vision-based Measurement

作     者：郭剑鹰 张家梁 吕恬生 

作者机构：School of Mechanical Engineering Shanghai Jiao tong University Shanghai 200030 School of Mechanical Engineering Donghua University Shanghai 200051 School of Mechanical Engineering Shanghai Jiao tong University Shanghai 200030his paper presents an efficient robot calibration method with non-contact vision metrology. Using the coplanar pattern to calibrate camera made the active-vision-based end-effector pose measurement be a feasible and costeffective way. Kinematic parameter errors were linearized and identified through two-step procedure thus the singular and non-linear condition was overcome. These errors were then compensated using inverse model method. The whole calibration process is flexible easy to implement and prevents the error propagation from the earlier stages to the later ones. Calibration was performed on MOTOMAN SV3 industrial robot. Experiment results show that the proposed method is easy to setup and with satisfactory accuracy. 

出 版 物：《Journal of Donghua University(English Edition)》 (东华大学学报（英文版）)

年 卷 期：2004年第21卷第1期

页      面：7-12页

核心收录：

学科分类：12[管理学] 1201[管理学-管理科学与工程(可授管理学、工学学位)] 08[工学] 0802[工学-机械工程] 080201[工学-机械制造及其自动化] 

主　　题：robot calibration pose measurement error identification kinematic error compensation 

摘      要：This paper presents an efficient robot calibration method with non-contact vision metrology. Using the coplanar pattern to calibrate camera made the active-vision-based end-effector pose measurement be a feasible and costeffective way. Kinematic parameter errors were linearized and identified through two-step procedure, thus the singular and non-linear condition was overcome. These errors were then compensated using inverse model method. The whole calibration process is flexible, easy to implement and prevents the error propagation from the earlier stages to the later ones. Calibration was performed on MOTOMAN SV3industrial robot. Experiment results show that the proposed method is easy to setup and with satisfactory accuracy.