Calibration of a parallel robot using multiple kinematic closed loops

Nahvi, Ali; Hollerbach, John M.; Hayward, Vincent

doi:10.1109/robot.1994.351262

Cited by 88 publications

(45 citation statements)

References 12 publications

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“…Nahvi and Hollerbach [13] proposed the minimum singular value of X as an observability index, here termed O 3 . The minimum singular value uses the worst observability of the parameter error as the criterion.…”

Section: Introductionmentioning

confidence: 99%

Observability index selection for robot calibration

Sun

Hollerbach

2008

2008 IEEE International Conference on Robotics and Automation

119

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Abstract-This paper relates 5 observability indexes for robot calibration to the "alphabet optimalities" from the experimental design literature. These 5 observability indexes are shown to be the upper and lower bounds of one another. All observability indexes are proved to be equivalent when the design is optimal after a perfect column scaling. It is shown that when the goal is to minimize the variance of the parameters, D-optimality is the best criterion. When the goal is to minimize the uncertainty of the end-effector position, E-optimality is the best criterion. It is proved that G-optimality is equivalent to E-optimality for exact design.

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Section: Introductionmentioning

confidence: 99%

Observability index selection for robot calibration

Sun

Hollerbach

2008

2008 IEEE International Conference on Robotics and Automation

119

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“…In the literature, the problem of optimal pose selection for calibration experiments have been studied in a number of works [36,[39][40][41][42][43][44], where several scalar criteria were proposed to defined this type of optimality in formal way. The main drawback of these approaches is that the relevant optimization objectives are not directly related to the manipulator positioning accuracy and its targeted industrial application (they usually focus on the parameter identification accuracy).…”

Section: Influence Of the Measurement Errors On The Identification Acmentioning

confidence: 99%

“…In these works, in order to compare the plans of experiments, several quantitative performance measures have been proposed and used as the objectives of the optimization problem associated with the optimal sets of measurement poses. In defining the objectives, the authors in [35,[40][41][42] proposed some observability indices, which are based on the singular values of the identification Jacobian (condition number, for instance). These indices have been examined and compared in [38,39,43,44], where the authors paid more attention to developing efficient numerical algorithms, such as genetic algorithm, Tabu search, DETMAX and also hybrid methods in order to obtain the optimal measurement configurations.…”

Section: Introductionmentioning

confidence: 99%

Geometric calibration of industrial robots using enhanced partial pose measurements and design of experiments

Klimchik

Caro

et al. 2015

Robotics and Computer-Integrated Manufacturing

151

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Geometric calibration of industrial robots using enhanced partial pose measurements and design of experiments. Robotics and Computer-Integrated Manufacturing, Elsevier, 2015, 35, pp.151-168 The paper deals with geometric calibration of industrial robots and focuses on reduction of the mea-surement noise impact by means of proper selection of the manipulator configurations in calibration experiments. Particular attention is paid to the enhancement of measurement and optimization techniques employed in geometric parameter identification. The developed method implements a complete and irreducible geometric model for serial manipulator, which takes into account different sources of errors (link lengths, joint offsets, etc). In contrast to other works, a new industry-oriented performance measure is proposed for optimal measurement configuration selection that improves the existing techniques via using the direct measurement data only. This new approach is aimed at finding the ca-libration configurations that ensure the best robot positioning accuracy after geometric error compen-sation. Experimental study of heavy industrial robot KUKA KR-270 illustrates the benefits of the devel-oped pose strategy technique and the corresponding accuracy improvement.

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“…However perfect measurements do not exist and is necessary to choose best calibration poses. There exist approaches [4,32], where a noise amplification index is used to identify poses in which errors in the parameters of the robot are especially critical; this is given when a calibration pose is near from a singularity or from workspace boundaries. However in a practical calibration process, if poses are extremely near of singularities, those poses are able to produce unpredictable movements (due to kinematic errors).…”

Section: A Selection Of Calibration Posesmentioning

confidence: 99%

A method for kinematic calibration of a parallel robot by using one camera in hand and a spherical object

Traslosheros

Sebastián

Castillo

et al. 2011

2011 15th International Conference on Advanced Robotics (ICAR)

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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. 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.

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Calibration of a parallel robot using multiple kinematic closed loops

Cited by 88 publications

References 12 publications

Observability index selection for robot calibration

Observability index selection for robot calibration

Geometric calibration of industrial robots using enhanced partial pose measurements and design of experiments

A method for kinematic calibration of a parallel robot by using one camera in hand and a spherical object

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