Robot Calibration Using Iteration and Differential Kinematics

In the applications of seam laser tracking welding robot and general measuring robot station based on stereo vision, the robot calibration is the most difficult step during the whole system calibration progress. Many calibration methods were put forward, but the exact location of base frame has to be known no matter which method was employed. However, the accurate base frame location is hard to be known. In order to obtain the position of base coordinate, this paper presents a novel iterative algorithm which can also get parameters deviations at the same time. It was a method of employing differential kinematics to solve link parameters deviations and approaching real values step-by-step. In the end, experiment validation was provided.
S H Ye Y Wang Y J Ren D K Li
State key laboratory of precision measuring technology and instruments, Tianjin University, China, 300072
国际会议
第四届仪器科学与技术国际会议( 4th International Symposium on Instrumentation and Science and Tcchnology)
哈尔滨
英文
1-6
2006-08-08(万方平台首次上网日期,不代表论文的发表时间)