Robotic Tooling Self-Calibration

Helal, M. A.; Xi, Fengfeng; Lin, You-Wei

doi:10.4271/2013-01-2118

SAE Technical Paper Series 2013

DOI: 10.4271/2013-01-2118

|View full text |Cite

Robotic Tooling Self-Calibration

M. A. Helal

Fengfeng Xi

You-Wei Lin

Help me understand this report

Search citation statements

Order By: Relevance

Paper Sections

Select...

Citation Types

Supporting

Mentioning

Contrasting

Year Published

2023

Publication Types

Select...

Preprint1

Relationship

Self Cite0

Independent1

Authors

Journals

Cited by 1 publication

References 11 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

Robotic tooling calibration based on linear and nonlinear formulations

Helal¹

2023

Preprint

View full text Add to dashboard Cite

Industrial robot calibration packages, such as ABB CalibWare, are developed only for robot calibration. As a result, the robotic tooling systems designed and fabricated by the user are often calibrated in an ad-hoc fashion. In this thesis, a systematic way for robotic tooling calibration is presented in order to overcome this problem. The idea is to include the tooling system as an extended body in the robot kinematic model, from which two error models are established. The first error model is associated with the robot, while the second error model is associated with the tooling. Once the robot is fully calibrated, the first error will be reduced to the required accuracy. Thus, the method is focused on the second error model. For the tool error calibration, two formulations were used. The first is a linear formulation based on conventional calibration as well as self-calibration methods while the second is a nonlinear formulation. The conventional linear formulation was extensively investigated and implemented while the self-calibration was proven to be inadequate for the tooling calibration. Moreover, the nonlinear formulation was demonstrated to be very effective and accurate through experimental result. The end-effector position estimation as well as the tool pose estimation were obtained using a 3D vision system as an off-line error measurement technique.

show abstract

Robotic tooling calibration based on linear and nonlinear formulations

Helal¹

2023

Preprint

View full text Add to dashboard Cite

show abstract

scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.

Contact Info

customersupport@researchsolutions.com

10624 S. Eastern Ave., Ste. A-614

Henderson, NV 89052, USA

This site is protected by reCAPTCHA and the Google Privacy Policy and Terms of Service apply.

Blog Terms and Conditions API Terms Privacy Policy Contact Cookie Preferences Do Not Sell or Share My Personal Information

Made with 💙 for researchers

Part of the Research Solutions Family.

Robotic Tooling Self-Calibration

Cited by 1 publication

References 11 publications

Robotic tooling calibration based on linear and nonlinear formulations

Robotic tooling calibration based on linear and nonlinear formulations

Contact Info

Product

Resources

About