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

Traslosheros Michel, Alberto; Sebastian y Zuñiga, Jose Maria; Torrijos, Jesús; Carelli, Ricardo y 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.

Descripción

Título: An Inexpensive Method for Kinematic Calibration of a Parallel Robot by Using One Hand-Held Camera as Main Sensor
Autor/es:
  • Traslosheros Michel, Alberto
  • Sebastian y Zuñiga, Jose Maria
  • Torrijos, Jesús
  • Carelli, Ricardo
  • Castillo, Eduardo
Tipo de Documento: Artículo
Título de Revista/Publicación: Sensors
Fecha: 5 Agosto 2013
Volumen: 13
Materias:
Palabras Clave Informales: Kinematic calibration; external sensor calibration; one-camera-in-hand sensor; parallel mechanism; parallel robot; visual servoing
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

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.

Más información

ID de Registro: 25863
Identificador DC: http://oa.upm.es/25863/
Identificador OAI: oai:oa.upm.es:25863
Identificador DOI: 10.3390/s130809941
URL Oficial: http://www.mdpi.com/1424-8220/13/8/9941
Depositado por: Memoria Investigacion
Depositado el: 27 Ene 2015 16:49
Ultima Modificación: 27 Ene 2015 16:49
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