检索结果-南通市图书馆

Development of an onsite calibration device for robot manipulators

Frontiers of Information Technology & Electronic Engineering 2023年第2期24卷 217-230页

作者： Ziwei WAN Chunlin ZHOU Haotian ZHANG Jun WU College of Control Science and Engineering Zhejiang UniversityHangzhou310063China Huzhou Institute of Zhejiang University Huzhou313098China Binjiang Institute of Zhejiang University Hangzhou310014China School of Information and Software Engineering University of Electronic Science and Technology of ChinaChengdu610054China

A novel in-contact three-dimensional(3D)measuring device,called MultiCal,is proposed as a convenient,low-cost(less than US$5000),and robust facility for onsite kinematic calibration and online measurement of robot manipulator *** device hasμm-level accuracy and can be easily embedded in robot *** the calibration procedure,the robot manipulator first moves automatically to multiple end-effector orientations with its tool center point(TCP)constrained on a fixed point by a 3D displacement measuring device(single point constraint),and the corresponding joint angles are ***,the measuring device is precisely mounted at different positions using a well-designed fixture,and the above measurement process is repeated to implement a multi-point *** relative mounting positions are accurately measured and used as prior information to improve calibration accuracy and *** results of theoretical analysis indicate that MultiCal reduces calibration accuracy by 10%to 20%in contrast to traditional non-contact 3D or six-dimensional(6D)measuring devices(such as laser trackers)when subject to the same level of artificial measurement *** results of a calibration experiment conducted on a Staubli TX90 robot show that MultiCal has only 7%to 14%lower calibration accuracy compared to a measuring arm with a laser scanner,and 21%to 30%lower time efficiency compared to a 6D binocular vision measuring system,yielding maximum and mean absolute position errors of 0.831 mm and 0.339 mm,respectively.

关键词： calibration device Kinematic calibration Onsite calibration Absolute accuracy

来源：

维普期刊数据库

同方期刊数据库评论

在线全文

学校读者我要写书评

暂无评论

欢迎您,

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

在线全文

请选择保存的检索档案：

请选择收藏分类：

通借通还

欢迎您,

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

在线全文

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：