A method for Kinematic Calibration of a Parallel Robot by using one camera in hand and a spherical object

Traslosheros Michel, Alberto and Sebastian y Zuñiga, Jose Maria and Castillo, Eduardo and Roberti, Flavio and Carelli, Ricardo (2011). A method for Kinematic Calibration of a Parallel Robot by using one camera in hand and a spherical object. In: "15th International Conference on Advanced Robotics", 20/06/2011 - 23/06/2011, Tallin, Estonia. ISBN 978-1-4577-1157-2. pp. 75-81.

Description

Title: A method for Kinematic Calibration of a Parallel Robot by using one camera in hand and a spherical object
Author/s:
  • Traslosheros Michel, Alberto
  • Sebastian y Zuñiga, Jose Maria
  • Castillo, Eduardo
  • Roberti, Flavio
  • Carelli, Ricardo
Item Type: Presentation at Congress or Conference (Article)
Event Title: 15th International Conference on Advanced Robotics
Event Dates: 20/06/2011 - 23/06/2011
Event Location: Tallin, Estonia
Title of Book: Proceedings of 15th International Conference on Advanced Robotics
Date: 2011
ISBN: 978-1-4577-1157-2
Subjects:
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

The main purpose of robot calibration is the correction of the possible errors in the robot parameters. This paper presents a method for a kinematic calibration of a parallel robot that is equipped with one camera in hand. In order to preserve the mechanical configuration of the robot, the camera is utilized to acquire incremental positions of the end effector from a spherical object that is fixed in the word reference frame. The positions of the end effector are related to incremental positions of resolvers of the motors of the robot, and a kinematic model of the robot is used to find a new group of parameters which minimizes errors in the kinematic equations. Additionally, properties of the spherical object and intrinsic camera parameters are utilized to model the projection of the object in the image and improving spatial measurements. Finally, the robotic system is designed to carry out tracking tasks and the calibration of the robot is validated by means of integrating the errors of the visual controller.

More information

Item ID: 12974
DC Identifier: http://oa.upm.es/12974/
OAI Identifier: oai:oa.upm.es:12974
Deposited by: Memoria Investigacion
Deposited on: 12 Dec 2012 15:13
Last Modified: 21 Apr 2016 12:16
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