Robot Calibration for Cooperative Process under Typical Installation
A method with easy operation procedure and simple calibration condition is presented in this paper to solve the base frame calibration problem for cooperative robots. It is carried out through constructing a series of handclasp configurations and recording coordinates of the contact points, respecti...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2014-01-01
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| Series: | Journal of Applied Mathematics |
| Online Access: | http://dx.doi.org/10.1155/2014/576420 |
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| Summary: | A method with easy operation procedure and simple calibration condition is presented in this paper to solve the
base frame calibration problem for cooperative robots. It is carried out through constructing a series of handclasp
configurations and recording coordinates of the contact points, respectively, in base frame of each robot. Then the rotation
matrix and translation matrix between base frame of cooperative robots can be calculated which is just the calibration
result for cooperative robots. Based on typical installation mode for industrial robot, the floor mounted, wall mounted
and ceiling mounted, constraints between base frames of these robots are further explored. These constraints are
used to improve the calibration results for base frame calibration problem. In order to validate the correctness and
effectiveness of our method, experiments on two industrial robots (Motoman VA1400 and HP20) are carried out at the
end of the paper. The calibration errors are less than 8 mm in most cases, which satisfies the requirement of positioning
accuracy for most industrial process, such as arc welding, transporting, and cutting. These experiment results assert the
correctness of our method which can be used effectively to solve the base frame calibration problem for cooperative
robots in manufacturing process. |
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| ISSN: | 1110-757X 1687-0042 |