A new method for kinematic parameter calibration via laser line tracking

A new method for kinematic parameter calibration via laser line tracking

A robot kinematic calibration technique is presented. The process assumes the use of an optical detector mounted on the robot's end-effector, which is used in position feedback. By this method, calibration data can be acquired for detector positions along a straight laser beam, and the detector...

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Hauptverfasser: Newman, W.S., Osborn, D.W.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Calibration
Gears
Intelligent robots
Laser beams
Laser feedback
Laser theory
Robot kinematics
Robot sensing systems
Robotics and automation
Service robots
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Osborn, D.W.
description A robot kinematic calibration technique is presented. The process assumes the use of an optical detector mounted on the robot's end-effector, which is used in position feedback. By this method, calibration data can be acquired for detector positions along a straight laser beam, and the detector is precisely centered on the laser line at each sample point. By structuring the data collection process this way, post processing to deduce kinematic parameters is simplified. A goodness-of-fit metric is given which exploits the straight-line constraint of the data. This metric is well suited for use within a numerical search for best-fit kinematic parameters. Illustrations of the technique's virtues and limitations are presented. An experimental apparatus for evaluating the technique on industrial robots is described. The approach is shown to be simple, inexpensive, and feasible.< >
doi_str_mv 10.1109/ROBOT.1993.292141
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ispartof [1993] Proceedings IEEE International Conference on Robotics and Automation, 1993, p.160-165 vol.2
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source IEEE Electronic Library (IEL) Conference Proceedings
subjects Calibration
Gears
Intelligent robots
Laser beams
Laser feedback
Laser theory
Robot kinematics
Robot sensing systems
Robotics and automation
Service robots
title A new method for kinematic parameter calibration via laser line tracking
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