One Camera in Hand for Kinematic Calibration of a Paralle Robot

《One Camera in Hand for Kinematic Calibration of a Paralle Robot》由会员上传分享，免费在线阅读，更多相关内容在学术论文-天天文库。

1、The2010IEEE/RSJInternationalConferenceonIntelligentRobotsandSystemsOctober18-22,2010,Taipei,TaiwanOneCamerainHandforKinematicCalibrationofaParallelRobotAlbertoTraslosheros,JoséMaríaSebastián,EduardoCastillo,FlavioRoberti,RicardoCarellistrategiesinthreemaingroups(byconsideringthelocationAbstrac

2、t—Themainpurposeofrobotcalibrationisthecorrectionofthepossibleerrorsintherobotparameters.Thisofmeasurementinstrumentsanditsadditionalelements):paperpresentsamethodforakinematiccalibrationofaExternalcalibration,itisbasedonmeasurementsoftheparallelrobotthatisequippedwithonecamerainhand.Inpositio

3、nsoftheendeffector(orotherstructuralelement)ofordertopreservethemechanicalconfigurationoftherobot,thetherobotbymeansofanexternalinstrument.Constrainedcameraisutilizedtoacquireincrementalpositionsoftheendcalibrationgroupsthosemethodsthatrelyonmechanicaleffectorfromasphericalobjectthatisfixedint

4、hewordelementsinordertoconstraintsomekindofmotionofthereferenceframe.Incrementalpositionsoftheendeffectorarerobotduringthecalibrationprocess,thismethodisgenerallyrelatedtoincrementalpositionsofencodersofthemotorsoftherobot.Akinematicmodeloftherobotismodifiedinordertosimpleanditisconsideredthem

5、ostinexpensive.Andtakeintoaccountpossibleerrorsofkinematicparameters.Thefinally,autocalibrationthatconsistonthatmethodsthatsolutionofthemodelutilizesincrementalpositionsofthecalibratestherobotautomaticallyandevenduringtherobotresolversandendeffector,thenewparametersminimizesoperation[3],ingene

6、ralauto(orself)calibrationmethodiserrorsinthekinematicequations.Sphericalpropertiesandmoreexpensiveduetoitscomplexityandevenitincludesintrinsiccameraparametersareutilizedtomodelsphereredundantsensors[4]orelements.Externalcalibrationcanprojectioninordertoimprovespatialmeasurements.Thebedonebyme

7、asuringcompletelyorpartiallytheposerobotsystemisdesignedtocarryouttrackingtasksandtheparametersoftheplatform.Measurementsoftheposeofacalibrationofthesystemisfinallyvalidatedbymeansofplatformcanbedonewithalaserandacoordinateintegratingth