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

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

Descripción

Título: A method for Kinematic Calibration of a Parallel Robot by using one camera in hand and a spherical object
Autor/es:
  • Traslosheros Michel, Alberto
  • Sebastian y Zuñiga, Jose Maria
  • Castillo, Eduardo
  • Roberti, Flavio
  • Carelli, Ricardo
Tipo de Documento: Ponencia en Congreso o Jornada (Artículo)
Título del Evento: 15th International Conference on Advanced Robotics
Fechas del Evento: 20/06/2011 - 23/06/2011
Lugar del Evento: Tallin, Estonia
Título del Libro: Proceedings of 15th International Conference on Advanced Robotics
Fecha: 2011
ISBN: 978-1-4577-1157-2
Materias:
Escuela: E.T.S.I. Industriales (UPM)
Departamento: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Licencias Creative Commons: Reconocimiento - Sin obra derivada - No comercial

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Resumen

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.

Más información

ID de Registro: 12974
Identificador DC: http://oa.upm.es/12974/
Identificador OAI: oai:oa.upm.es:12974
Depositado por: Memoria Investigacion
Depositado el: 12 Dic 2012 15:13
Ultima Modificación: 21 Abr 2016 12:16
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