Robot calibration by observing a virtual fixed point

摘要：

An industrial robot calibration algorithm is presented, which uses a laser-stripe range finder. In the proposed method, the sensor is attached to the robots end-effector and the centre of a ball with known radius is regarded as a virtue point and the robot carries the sensor to measure this virtue point. The kinematic parameters of the robot are estimated due to the coordinates of the virtue point is invariable in robot base frame. An example verifies the effectiveness of the proposed method.

作者: Wenbiao Wang Aiguo Li Defeng Wu

作者单位: School of Information Science & Technology,Dalian Maritime University,Dalian,China

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 1351-1355

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）