Laser tracker-based kinematic parameter calibration of industrial robots by improved CPA method and active retroreflector

2012 ◽  
Vol 66 (9-12) ◽  
pp. 2087-2106 ◽  
Author(s):  
Jorge Santolaria ◽  
Javier Conte ◽  
Manuel Ginés
Keyword(s):  
Kinematic Parameter ◽  
Industrial Robots ◽  
Laser Tracker ◽  
Parameter Calibration

Comparison of two calibration methods for a small industrial robot based on an optical CMM and a laser tracker

Robotica ◽  
2013 ◽  
Vol 32 (3) ◽  
pp. 447-466 ◽  
Author(s):  
Albert Nubiola ◽  
Mohamed Slamani ◽  
Ahmed Joubair ◽  
Ilian A. Bonev
Keyword(s):  
Industrial Robot ◽  
Laser Tracker ◽  
Calibration Model ◽  
Kinematic Calibration ◽  
Absolute Accuracy ◽  
Parameter Calibration ◽  
End Effector ◽  
Coordinate Measurement ◽  
Measurement Systems ◽  
Calibration Methods

SUMMARYThe absolute accuracy of a small industrial robot is improved using a 30-parameter calibration model. The error model takes into account a full kinematic calibration and five compliance parameters related to the stiffness in joints 2, 3, 4, 5, and 6. The linearization of the Jacobian is performed to iteratively find the modeled error parameters. Two coordinate measurement systems are used independently: a laser tracker and an optical CMM. An optimized end-effector is developed specifically for each measurement system. The robot is calibrated using fewer than 50 configurations and the calibration efficiency validated in 1000 configurations using either the laser tracker or the optical CMM. A telescopic ballbar is also used for validation. The results show that the optical CMM yields slightly better results, even when used with the simple triangular plate end-effector that was developed mainly for the laser tracker.

Convergence Analysis of Kinematic Parameter Calibration for a Car-Like Mobile Robot

2011 ◽  
Vol 17 (12) ◽  
pp. 1256-1265
Author(s):  
Kwang-Hyun Yoo ◽  
Kook-Tae Lee ◽  
Chang-Bae Jung ◽  
Woo-Jin Chung
Keyword(s):  
Mobile Robot ◽  
Convergence Analysis ◽  
Kinematic Parameter ◽  
Parameter Calibration
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