东华大学学报（英文版）2004，Vol.21Issue(1)：7-12,6.
Robot Calibration Using Active Vision-based Measurement
Robot Calibration Using Active Vision-based Measurement
郭剑鹰 1张家梁 2吕恬生1
作者信息
- 1. School of Mechanical Engineering, Shanghai Jiao tong University, Shanghai, 200030
- 2. School of Mechanical Engineering, Donghua University, Shanghai, 200051
- 折叠
摘要
Abstract
This paper presents an efficient robot calibration method with non-contact vision metrology. Using the coplanar pattern to calibrate camera made the active-vision-based end-effector pose measurement be a feasible and costeffective way. Kinematic parameter errors were linearized and identified through two-step procedure, thus the singular and non-linear condition was overcome. These errors were then compensated using inverse model method. The whole calibration process is flexible, easy to implement and prevents the error propagation from the earlier stages to the later ones. Calibration was performed on MOTOMAN SV3industrial robot. Experiment results show that the proposed method is easy to setup and with satisfactory accuracy.关键词
robot calibration/pose measurement/erroridentification/kinematic error compensationKey words
robot calibration/pose measurement/erroridentification/kinematic error compensation分类
信息技术与安全科学引用本文复制引用
郭剑鹰,张家梁,吕恬生..Robot Calibration Using Active Vision-based Measurement[J].东华大学学报（英文版）,2004,21(1):7-12,6.
