An Inexpensive Method for Kinematic Calibration of a Parallel Robot by Using One Hand-Held Camera as Main Sensor

Traslosheros Michel, Alberto and Sebastian y Zuñiga, Jose Maria and Torrijos, Jesús and Carelli, Ricardo and Castillo, Eduardo (2013). An Inexpensive Method for Kinematic Calibration of a Parallel Robot by Using One Hand-Held Camera as Main Sensor. "Sensors", v. 13 (n. 8); pp. 9941-9965. ISSN 1424-8220. https://doi.org/10.3390/s130809941.

Description

Title: An Inexpensive Method for Kinematic Calibration of a Parallel Robot by Using One Hand-Held Camera as Main Sensor
Author/s:
  • Traslosheros Michel, Alberto
  • Sebastian y Zuñiga, Jose Maria
  • Torrijos, Jesús
  • Carelli, Ricardo
  • Castillo, Eduardo
Item Type: Article
Título de Revista/Publicación: Sensors
Date: 5 August 2013
ISSN: 1424-8220
Volume: 13
Subjects:
Freetext Keywords: Kinematic calibration; external sensor calibration; one-camera-in-hand sensor; parallel mechanism; parallel robot; visual servoing
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

This paper presents a novel method for the calibration of a parallel robot, which allows a more accurate configuration instead of a configuration based on nominal parameters. It is used, as the main sensor with one camera installed in the robot hand that determines the relative position of the robot with respect to a spherical object fixed in the working area of the robot. The positions of the end effector are related to the incremental positions of resolvers of the robot motors. 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 thereby improve spatial measurements. Finally, several working tests, static and tracking tests are executed in order to verify how the robotic system behaviour improves by using calibrated parameters against nominal parameters. In order to emphasize that, this proposed new method uses neither external nor expensive sensor. That is why new robots are useful in teaching and research activities.

More information

Item ID: 25863
DC Identifier: http://oa.upm.es/25863/
OAI Identifier: oai:oa.upm.es:25863
DOI: 10.3390/s130809941
Official URL: http://www.mdpi.com/1424-8220/13/8/9941
Deposited by: Memoria Investigacion
Deposited on: 27 Jan 2015 16:49
Last Modified: 27 Jan 2015 16:49
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