A Self-Calibration Method for Robotic Measurement System

[+] Author and Article Information
Chunhe Gong, Jingxia Yuan, Jun Ni

S. M. Wu Manufacturing Research Center, Department of Mechanical Engineering and Applied Mechanics, University of Michigan, Ann Arbor, MI 48109

J. Manuf. Sci. Eng 122(1), 174-181 (Jun 01, 1999) (8 pages) doi:10.1115/1.538916 History: Received April 01, 1998; Revised June 01, 1999
Copyright © 2000 by ASME
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Robot measurement system
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Principle of the optical sensor
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DH convention for robot link coordinate system
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Robot self-calibration algorithm
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Experimental setup for robot self-calibration
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Top view of calibration artifact locations in the robot’s workspace
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Comparison among the parameter estimation based on data from three artifact locations individually
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Residual error comparison at left location with the compensation of (a) XL, (b) XR, and (c) XF
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Residual errors at left location with the compensation of XRF
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Overall residual errors
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Distribution of overall residual errors




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