Robot Calibration. A Review of Robot Calibration.
نویسندگان
چکیده
منابع مشابه
Estimation and Calibration of Robot Link Parameters with Intelligent Techniques
Abstract: Using robot manipulators for high accuracy applications require precise value of the kinematics parameters. Since measurement of kinematics parameters are usually associated with errors and accurate measurement of them is an expensive task, automatic calibration of robot link parameters makes the task of kinematics parameters determination much easier. In this paper a simple and easy ...
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Kinematic calibration is necessary to enhance the accuracy of robotic manipulators. It is typically desired to perform this task in both a cost-effective and time-efficient manner. Many techniques exist in the literature that achieve both goals using absolute measurements. In this paper, a modified model-based kinematic calibration method using optically obtained relative measurements is develo...
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In this paper we propose a new algorithm for the kinetostatic calibration of a robot based on contact force measurement. The proposed calibration methodology, called kinetostatic calibration, does not require the use of a sensor to measure the robot pose, avoiding all problems related to the use of external devices for this measurement. On the contrary, the robot gripper must be equipped with a...
متن کاملAutomatic Robot Joint Offset Calibration
A contact-based calibration technique using a robot-mounted calibration probe, has been experimented with. The probe is to be implemented by utilizing a wrist-mounted force sensor. The technique is based on constraining the sampled robot joint poses to those where the probe end is in controlled contact with a planar surface. The paper illustrates how the technique may be used to achieve a joint...
متن کاملRobot Calibration with Planar Constraints
This paper investigates issues related to robot calibration with planar constraints and, in particular observability conditions for the parameters of the kinematic model of the robot. Both singleand multiple-plane constraints for robot calibration are considered. It is shown that a single-plane constraint is n o d y insdlicient for calibrating a robot. It is also shown that by using a three-pla...
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ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 1997
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.15.164