Robot Calibration Using Relative Measurements

David Chao-Chia Lu ； M. John D. Hayes

《Proceedings of the 14th IFToMM World Congress》 14th-3 (2015/10) Pp. 121-128

https://doi.org/10.6567/IFToMM.14TH.WC.OS13.030

並列摘要

Kinematic calibration is necessary to enhance the accuracy of robotic manipulators. It is typically desired to perform this task in both a cost-effective and time-efficient manner. Many techniques exist in the literature that achieve both goals using absolute measurements. In this paper, a modified model-based kinematic calibration method using optically obtained relative measurements is developed and implemented on a 7 DOF WAM Arm. Results indicate that it is capable of achieving approximately the same level of accuracy as some absolute measurement methods. Moreover, the calibration method presented in this paper leads to quantifiable improvement in both the positioning and orienting accuracy. The implication is that the relative measurement concept is a valid tool for model-based kinematic calibration of serial manipulators, and the results presented herein are it's first empirical validation.

並列關鍵字

Robotics ； kinematics ； calibration ； serial manipulators ； hand-eye calibration ； relative measurements ； parameters estimation