Journal ArticleDOI
Determination of optimal measurement configurations for robot calibration based on observability measure
Jin-Hwan Borm,Chia-Hsiang Menq +1 more
TLDR
The selection of measurement configurations in robot cali bration is investigated to select a set of robot measurement configurations that will yield maximum servability of the error parameters in a defined position error model so that the effect of noise in parameter estimation can be minimized.Abstract:
The selection of measurement configurations in robot cali bration is investigated. The goal is to select a set of robot measurement configurations that will yield maximum ob servability of the error parameters in a defined position error model so that the effect of noise in parameter estimation can be minimized. The noise considered in this paper includes both measurement and modeling errors. An observability measure is used as a criterion for selecting measurement configurations for calibration. Experimental studies are per formed to demonstrate the importance of observability to parameter estimation and to verify its implications in robot calibration. Based on the defined observability measure, the optimal measurement configurations for robot calibration are determined for general open-loop planar mechanism and PUMA type robots.read more
Citations
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Journal ArticleDOI
Absolute calibration of an ABB IRB 1600 robot using a laser tracker
Albert Nubiola,Ilian A. Bonev +1 more
TL;DR: In this paper, the accuracy of an ABB IRB 1600 industrial robot is improved using a 29-parameter calibration model, developed after extensive experimentation, which takes into account all possible geometric errors (25 geometric error parameters to be identified through optimization).
Journal ArticleDOI
The calibration index and taxonomy for robot kinematic calibration methods
TL;DR: A calibration index is in troduced, based on the mobility equation, that considers sensed and unsensed joints and single and multiple loops and ex presses the surplus of measurements over degrees of freedom at each pose.
Journal ArticleDOI
A systematic technique to estimate positioning errors for robot accuracy improvement using laser interferometry based sensing
Gursel Alici,Bijan Shirinzadeh +1 more
TL;DR: The principal conclusion is that the approach of estimating position errors with some analytical functions is practical and generic, and most importantly it is effective enough to improve robot accuracy.
Journal ArticleDOI
An implicit loop method for kinematic calibration and its application to closed-chain mechanisms
TL;DR: A unified formulation for the calibration of both serial-link robots and robotic mechanisms having kinematic closed-loops is presented and applied experimentally to two 6-degree-of-freedom devices: the RSI 6-DOF hand controller and the MEL "modified Stewart platform".
Fast and accurate shape-based registration
David A. Simon,Takeo Kanade +1 more
TL;DR: This dissertation describes a system for tracking the position and orientation of arbitrarily-shaped objects at speeds of roughly 10 Hz using a high-speed range finder using a numerical analysis method which provides a criterion measure for the optimization process (Constraint Analysis).
References
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Journal ArticleDOI
The singular value decomposition: Its computation and some applications
TL;DR: This work provides a tutorial introduction to certain numerical computations both in linear algebra and linear systems in the context of bounded arithmetic and the singular value decomposition (SVD).
Journal ArticleDOI
An overview of robot calibration
TL;DR: An overview is given of the existing work on robot calibration, and some of the basic issues are identified in calibration and improvement of robot precision.
Journal ArticleDOI
Geometric optimization of serial chain manipulator structures for working volume
TL;DR: In this paper, the regional structure of a manipulator, which consists of the three inboard joints and their associated members, determines the workspace shape and volume, and the orientation structu...
Proceedings ArticleDOI
A method for calibrating and compensating robot kinematic errors
W. K. Veitschegger,Chi-haur Wu +1 more
TL;DR: A method of calibrating and compensating for the kinematic errors in robot manipulators is presented and the improvement in the Cartesian position of the end-effector is experimentally measured.