Robot geometry calibration

Hayati, S.; Tso, K.S.; Roston, Gerald P.

doi:10.1109/robot.1988.12181

Cited by 80 publications

(47 citation statements)

References 10 publications

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“…Hayati et al [9,10] have made the intersection of the vertical plane in the Z;_ 1-axis with the Zi-axis of joint i + I as origin Oi and introduced the rotation angles a of axis and a of ( Fig. 2).…”

Section: The Original and Corrected Dh Methodsmentioning

confidence: 99%

Kinematic model and calibration of a robot manipulator

Ish

1990

Advanced Robotics

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In the next generation of industrial robot systems, the absolute positioning accuracy of a robot manipulator is necessary for the manipulation of robot programming systems based on a CAD model database and for integration with multiple robots and hand-eye systems. This paper identifies sources of absolute positioning error, and discusses methods of creating kinematic models and robot calibration including tool-reference-point measurements.High-precision absolute positioning is a key breakthrough required to implement robot systems that can reliably execute control programs generated by offline programming.

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Section: The Original and Corrected Dh Methodsmentioning

confidence: 99%

Kinematic model and calibration of a robot manipulator

Ish

1990

Advanced Robotics

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“…The identified Jacobian function can be calculated sequentially through Eqs. (16), (21) and (23). The topology information of the machine is adopted from Eq.…”

Section: Piges Identification Using Ball-bar Testmentioning

confidence: 99%

“…Every machine topology requires a specific set of frames and equations. Homogeneous transformation matrices (HTMs), incorporating the geometric errors developed by using D-H notations [20] were used in robotics with the Hayati [21] enhancement to cater for nominally parallel rotary axes. In the field of machine tools, frames are associated with each drive axis sequentially using the required translations and rotations relative to the previous frame in the kinematic chain [6] without the constraints of the D-H convention.…”

Section: Introductionmentioning

confidence: 99%

A position independent geometric errors identification and correction method for five-axis serial machines based on screw theory

Yang

Mayer

Altintaş

2015

International Journal of Machine Tools and Manufacture

102

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“…For this purpose, Goswami, Quaid, and Peshkin use a radialdistance linear transducer (LVDT) [13]. It is also possible to use a calibration plate with index marks, which provide accurate positions of the end effector, as reported in [14]. Stone, Sanderson, and Neuman use external ultrasonic range sensors [15].…”

Section: B Related Workmentioning

confidence: 99%

Accelerometer based robotic joint orientation estimation

Wieser

Mittendorfer

Cheng

2011

2011 11th IEEE-RAS International Conference on Humanoid Robots

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Abstract-In this paper, we present a new system to automatically estimate the rotational axis (orientation) of robotic joints relative to distributed accelerometers. We designed, implemented, and tested a method for the estimation of joint orientation. The method takes advantage of basic movement patterns of a robotic segment. The method uses considerably less input data compared to related methods for the estimation of joint orientation. As sensor input, it only needs the gravitational acceleration measured before and after a commanded joint rotation, dynamic acceleration components are not needed. We evaluated the implementation of the method on a Bioloid robot equipped with three Tactile Module prototypes. Our Tactile Modules are multimodal sensor systems and also feature a triaxial accelerometer. The robot successfully estimated the rotation axes of each DOF of its shoulder and elbow joints relative to the accelerometer frames of the Tactile Modules that are randomly distributed on the corresponding segments.

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Robot geometry calibration

Cited by 80 publications

References 10 publications

Kinematic model and calibration of a robot manipulator

Kinematic model and calibration of a robot manipulator

A position independent geometric errors identification and correction method for five-axis serial machines based on screw theory

Accelerometer based robotic joint orientation estimation

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