KINEMATIC CALIBRATION OF 6 R SERIAL MANIPULATORS USING RELATIVE MEASUREMENTS

In this paper, an approach to the kinematic calibration of serial manipulators with six revolute joints in general using relative position and orientation measurements is presented, and a Thermo CRS A465 is used for illustration. The definition of the errors used for the calibration process are first introduced, then the kinematic model that describes the manipulator pose (position and orientation) using the kinematic parameters is discussed. The pose of the manipulator is specified by six independent position and orientation parameters. The kinematic model presented is based on the nominal Denavit-Hartenburg (DH), along with the kinematic error model that describes the changes in the manipulator pose to the relative errors between the nominal and actual DH parameters. The results of two simulated measurements using the position and orientation are presented, and the performance of the kinematic error identification technique is discussed.

[1]  In-Won Park,et al.  Laser-Based Kinematic Calibration of Robot Manipulator Using Differential Kinematics , 2012, IEEE/ASME Transactions on Mechatronics.

[2]  Shinn-Liang Chang,et al.  Development of a CAD/CAE/CAM system for a robot manipulator , 2003 .

[3]  J. Chen,et al.  Positioning error analysis for robot manipulators with all rotary joints , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[4]  Yan Meng,et al.  Self-Calibration of Camera-Equipped Robot Manipulators , 2001, Int. J. Robotics Res..

[5]  Louis J. Everett,et al.  Kinematic modelling for robot calibration , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[6]  Zvi S. Roth,et al.  Fundamentals of Manipulator Calibration , 1991 .

[7]  Ying Bai,et al.  Robot manipulator calibration using neural network and a camera-based measurement system , 2012 .

[8]  J. Denavit,et al.  A kinematic notation for lower pair mechanisms based on matrices , 1955 .

[9]  Morris Driels,et al.  Automated partial pose measurement system for manipulator calibration experiments , 1994, IEEE Trans. Robotics Autom..

[10]  - Chul Ha.  Kinematic parameter calibration method for industrial robot manipulator using the relative position In , 2008 .

[11]  Guilin Yang,et al.  Local POE model for robot kinematic calibration , 2001 .

[12]  M. J. D. Hayes,et al.  Simulation of a Kinematic Calibration Procedure that Employs the Relative Measurement Concept , 2004 .

[13]  Guanfeng Liu,et al.  Computer vision based calibration of the purely translational Orthopod manipulator , 2009, 2009 International Conference on Information and Automation.

[14]  P. Bidaud,et al.  Practical consideration on the identification of the kinematic parameters of the Stäubli TX 90 robot , 2010 .

[15]  Hanqi Zhuang,et al.  Camera assisted calibration of SCARA arms , 1996, IEEE Robotics Autom. Mag..

[16]  Robert P. Judd,et al.  A technique to calibrate industrial robots with experimental verification , 1987, IEEE Trans. Robotics Autom..

[17]  Bahram Ravani,et al.  An overview of robot calibration , 1987, IEEE Journal on Robotics and Automation.

[18]  Chi-Haur Wu,et al.  A Kinematic CAD Tool for the Design and Control of a Robot Manipulator , 1984 .