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Abstract-This paper proposes a systematic method to identify the joint zero offset of industrial robot.Small offset always exist in robot joint, which affect the precision in kinematic equations leading to calculate wrong joint angle values. To solve these problems, the proposed method employs a portable

This paper proposes a novel calibration approach for industrial robots. Unlike previous methods, the proposed approach introduces a completely new technique for automatically calibrating robots. The proposed system consists of an industrial robot manipulator, a laser fixture attached to the robot tool center point (TCP), a PC-based interface, and a new portable position sensitive device. This portable device comprised of two fixed position sensitive detectors (PSD's) tilted in an angle to reflect the laser line from one PSD to another. The new calibration approach is not only able to compute the joint offset parameters of the robot, but is also capable of simultaneously calibrating the robot's workpiece relationship. It was also designed to be faster yet simpler than other methods. Throughout this paper we present, analyze and compare both simulations and experimental results between the new proposed approach and our existing methods.

Mobile manipulators provide more advantages and flexibility in a wide range of applications than standard manipulators by introducing mobility. However, adding mobile platforms to standard manipulators, especially nonholonomic mobile platforms, introduces new challenges to the system modeling and control. Most existing methods for mobile manipulators do not consider the performance difference between the mobile platform and the manipulator and therefore cannot handle the uncertain and unexpected events happened in both the mobile platform and the manipulator. This paper introduces a planning and control method in a perceptive reference frame for a nonholonomic mobile manipulator to efficiently handle uncertain and unexpected events. The experimental results on a nonholonomic mobile manipulator demonstrate the effectiveness and advantages of the designed method.

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