One Camera in Hand for Kinematic Calibration of a Parallel Robot

Traslosheros Michel, Alberto and Sebastian y Zuñiga, Jose Maria and Castillo, Eduardo and Roberti, Flavio and Carelli, Ricardo (2010). One Camera in Hand for Kinematic Calibration of a Parallel Robot. In: "IEEE/RSJ International Intelligent Robots and Systems, IROS 2010", 18/10/2010 - 22/10/2010, Taipei, Taiwan. ISBN 978-1-4244-6674-0.

Description

Title: One Camera in Hand for Kinematic Calibration of a Parallel Robot
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: IEEE/RSJ International Intelligent Robots and Systems, IROS 2010
Event Dates: 18/10/2010 - 22/10/2010
Event Location: Taipei, Taiwan
Title of Book: Proceedings of the IEEE/RSJ International Intelligent Robots and Systems, IROS 2010
Date: 2010
ISBN: 978-1-4244-6674-0
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. Incremental positions of the end effector are related to incremental positions of encoders of the motors of the robot. A kinematic model of the robot is modified in order to take into account possible errors of kinematic parameters. The solution of the model utilizes incremental positions of the resolvers and end effector, the new parameters minimizes errors in the kinematic equations. Spherical properties and intrinsic camera parameters are utilized to model sphere projection in order to improve spatial measurements. The robot system is designed to carry out tracking tasks and the calibration of the system is finally validated by means of integrating the errors of the visual controller.

More information

Item ID: 8032
DC Identifier: http://oa.upm.es/8032/
OAI Identifier: oai:oa.upm.es:8032
Official URL: http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5650581
Deposited by: Memoria Investigacion
Deposited on: 19 Aug 2011 17:22
Last Modified: 20 Apr 2016 16:58
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