Calibration and accuracy of manipulation robot models—An overview

Karan, Branko; Vukobratović, Miomir

doi:10.1016/0094-114x(94)90130-9

Cited by 76 publications

(34 citation statements)

References 22 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Robot accuracy is affected by several factors, such as the environmental, parameters, measurement, computational, and application (Karan and Vukobratovic 1994). These factors can be classified as kinematic, structural, or dynamics errors (Conrad et al.…”

Section: Introductionmentioning

confidence: 99%

“…2004) divides calibration methods into kinematic-model-based and non-kinematic calibrations. Generally, a calibration process entails four steps: modeling, measurement, identification, and compensation (Karan and Vukobratovic 1994).

Step 1: Modeling Among the many methods used to describe the kinematics of a robotic system, the DH model is commonly used.

…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

An optimization technique for identifying robot manipulator parameters under uncertainty

Yang

Chan

et al. 2016

SpringerPlus

View full text Add to dashboard Cite

Robot manipulators enable large-scale factory automation of simple and repeated tasks. Each manipulation is the result of the robot design and the command inputs provided by the operator. In this study, we focus on the accuracy improvement of practical robot manipulation under uncertainty, resulting in path-specific error values. Existing techniques for reducing the errors use high-precision sensors and measurements to obtain the values of a manipulator to provide feedback control. Instead of compensating errors in operation, this study designs a calibration table to obtain the error value for a designated path. This error is then used to adjust important parameters in the kinematic closed chain models of a manipulators via optimization. The proposed method reduces the cost and the dependence on the calibration process. Experimental results show that the overall accuracy of the manipulator is improved. The proposed method can also be extended to develop the optimal robotic manipulation planning and reliability assessment in the future.

show abstract

Section: Introductionmentioning

confidence: 99%

Step 1: Modeling Among the many methods used to describe the kinematics of a robotic system, the DH model is commonly used.

…”

Section: Introductionmentioning

confidence: 99%

An optimization technique for identifying robot manipulator parameters under uncertainty

Yang

Chan

et al. 2016

SpringerPlus

View full text Add to dashboard Cite

show abstract

“…A few specific examples of methods for inferring information about a human subject's skeletal anatomy from the motions of bone or skin mounted markers can be found in [1,13,16]. Karan and Vukobratović have published a survey of calibration by parameter estimation for robotic devices [7].…”

Section: Previous Workmentioning

confidence: 99%

Skeletal parameter estimation from optical motion capture data

Kirk

O’Brien

Forsyth

2004

ACM SIGGRAPH 2004 Sketches on - SIGGRAPH '04

View full text Add to dashboard Cite

show abstract

“…A lot of research has been done to identify the most suitable kinematic parameter system according to criteria such as completeness, proportionality and equivalence (see [7] for a review). The unknown kinematic parameters are most commonly identified from end-effector pose measurements and robot joint position readings.…”

Section: Related Researchmentioning

confidence: 99%

“…The first decision to be made is the selection of an adequate kinematic parameter convention to model motions generated by such systems. Since Denavit-Hartenberg parameterization is inappropriate because it lacks proportionality, other notations distinguished by various desirable properties have been proposed for the calibration of kinematic models [7]. Our goal is to model human motion by a specific kinematic structure of the humanoid robot, therefore it is very natural to specify such a parametric model using twists [9].…”

Section: Kinematic Modelingmentioning

confidence: 99%

Programming full-body movements for humanoid robots by observation

Ude

Atkeson

Riley

2004

Robotics and Autonomous Systems

141

View full text Add to dashboard Cite

The formulation and optimization of joint trajectories for humanoid robots is quite different from this same task for standard robots because of the complexity of humanoid robots' kinematics and dynamics. In this paper we exploit the similarity between human motion and humanoid robot motion to generate joint trajectories for humanoids. In particular, we show how to transform human motion information captured by an optical tracking device into a high dimensional trajectory for a humanoid robot. We propose an automatic approach to relate humanoid robot kinematic parameters to the kinematic parameters of a human performer. Based on this relationship we infer the desired trajectories in robot joint space. B-spline wavelets are utilized to efficiently represent the trajectories. The density of the basis functions on the time axis is selected automatically. Large-scale optimization techniques are employed to solve the underlying computational problems efficiently. We applied our method to the task of teaching a humanoid robot how to make various naturally looking movements.

show abstract

Calibration and accuracy of manipulation robot models—An overview

Cited by 76 publications

References 22 publications

An optimization technique for identifying robot manipulator parameters under uncertainty

An optimization technique for identifying robot manipulator parameters under uncertainty

Skeletal parameter estimation from optical motion capture data

Programming full-body movements for humanoid robots by observation

Contact Info

Product

Resources

About