Identification and calibration of the geometric parameters of robots

Khalid, Waqas; Caenen, J. L.; Enguehard, Ch.

doi:10.1007/bfb0042539

Cited by 19 publications

(18 citation statements)

References 8 publications

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“…The i th block i J of the identification jacobian matrix with respect to the base coordinate can be calculated directly as fllows [5]:…”

Section: A Calculation Of Jacobian Matrixmentioning

confidence: 99%

“…Identification jacobian matrix has been studied extensively in robot manipulator calibration literature [2,3,4] . Khalil, Caenen and Engueheard [5] presented an identification model based on the differential variation of the position of the end-effector as function of the differential variation of the kinematic parameters. The differential vectors defining the deviation of the tool frame are related to the differential error in the geometric parameters by the extended Jacobian matrix.…”

Section: Introductionmentioning

confidence: 99%

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An New Computational Method of the Identification Jacobian for Robot Manipulator Calibration

Zhang

2011

2011 International Conference on Control, Automation and Systems Engineering (CASE)

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Identification jacobian matrix, which represents the relationship between kinematic parameter error and the positional error of the robot manipulator, is very useful for the model based calibration of robot manipulator. In this paper, a new methodology to calculate the identification jacobian matrix for robot manipulator calibration is presented based on the modified Khalil and Kleinfinger notation. A computer program to calculate the identification jacobian matrix by using symbolic computation has been developed in MATLAB.

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“…The i th block i J of the identification jacobian matrix with respect to the base coordinate can be calculated directly as fllows [5]:…”

Section: A Calculation Of Jacobian Matrixmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

An New Computational Method of the Identification Jacobian for Robot Manipulator Calibration

Zhang

2011

2011 International Conference on Control, Automation and Systems Engineering (CASE)

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“…The improving robot accuracy has been performed by the conventional robot kinematic calibration method. A system of linear or non-linear differential equations is derived based on the measurements of robot end-effector position and its joint angle position [1][2][3][4][5][6][7]. A persistent problem is to find external sensors which can measure the robot position accurately and precisely.…”

Section: Introductionmentioning

confidence: 99%

Evaluation of Robot Calibration Performance based on a Three Dimensional Small Displacement Measuring Sensor

Nguyen¹,

Kang²

2014

Journal of Institute of Control, Robotics and Systems

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There have been many autonomous robot calibration methods which form closed loop structures through the various attached sensors and mechanical fixtures. Single point calibration among them has been used for on-site calibration due to its convenience of implementation. The robot can reach a single point with infinitely many configurations so that single point calibration algorithm can be set up and easily implemented relative to the other methods. However, it is not still easy to drive the robots' sharp edge to its corresponding edge of the fixture. This is error-prone process. In this paper, we propose a 3 dimensional small displacement measuring sensor and a robot calibration algorithm based on this sensor. This method relieves the difficulty of matching two edges in the single point calibration and improves the resulting robot accuracy. Simulated study is carried out on a Hyundai HA06 robot to show the effectiveness of the proposed method over the single point calibration. And also, the resulting robot accuracy is compared with that from 3D laser tracker based calibration to show the dependency of robot accuracy on range of the workspace where the measurement data are collected.

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“…Their observability is verified through the SVD of global Jacobian matrix J s from which only the columns of the selected parameters are kept. All details of this observability analysis are available in [25] [26].…”

Section: Sensitivity and Observability Analysesmentioning

confidence: 99%

Elasto-geometrical modeling and calibration of redundantly actuated PKMs

Écorchard

Neugebauer

Maurine

2010

Mechanism and Machine Theory

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To cite this version:Gaël Ecorchard, Reimund Neugebauer, Patrick Maurine. Elasto-geometrical modeling and calibration of redundantly actuated PKMs. Mechanism and Machine Theory, Elsevier, 2010, 45 (5) AbstractRedundantly actuated Parallel Kinematic Machines (PKMs) offer a number of advantages compared to classical non-redundant PKMs. Particularly, they show a better stiffness thanks to singularity avoidance and they have an improved repeatability due to a better behavior against backlashes. The main problem with the calibration of these machines is that the redundancy leads to some mechanical strains in their structure. This makes it difficult to identify the geometrical errors of their structure without taking into account the effects of the elastic deformations. The main originality of this work is to propose an efficient elasto-geometrical and calibration method that allows the identification of both the geometrical and stiffness parameters of redundantly actuated parallel mechanisms with slender links. The first part of the paper explains the proposed method through its application on a simple redundant planar mechanism. The second part deals with its experimental application to the redundant Scissors Kinematic Machine.

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Identification and calibration of the geometric parameters of robots

Cited by 19 publications

References 8 publications

An New Computational Method of the Identification Jacobian for Robot Manipulator Calibration

An New Computational Method of the Identification Jacobian for Robot Manipulator Calibration

Evaluation of Robot Calibration Performance based on a Three Dimensional Small Displacement Measuring Sensor

Elasto-geometrical modeling and calibration of redundantly actuated PKMs

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