Paper Title:
A Robot Calibration Method Based on Virtual Closed Kinematic Chain
  Abstract

This paper offers a robot calibration approach based on the virtual closed kinematic chain so that the absolute location accuracy of a robot can be improved. The calibration approach suggests that laser beam can be mounted on the robot’s end so as to form a virtual closed kinematic chain in the interest of enlarging the pose errors to proper extent, in this way straight line equations in space can be acquired when the robot positions are changed continuously, in the end the robots’ kinematic parameters can be figured out by genetic algorithm while measurement can be totally avoided in the calibration. Calibrating practices, simulating analysis and experiments on robots show that the approach can improve the absolute calibrating accuracy effectively.

  Info
Periodical
Advanced Materials Research (Volumes 139-141)
Edited by
Liangchi Zhang, Chunliang Zhang and Tielin Shi
Pages
2162-2167
DOI
10.4028/www.scientific.net/AMR.139-141.2162
Citation
T. Q. Wang, C. Liu, Z. P. Zhang, D. C. Wang, "A Robot Calibration Method Based on Virtual Closed Kinematic Chain", Advanced Materials Research, Vols. 139-141, pp. 2162-2167, 2010
Online since
October 2010
Export
Price
$32.00
Share

In order to see related information, you need to Login.

In order to see related information, you need to Login.

Authors: Zhi Jiang Xie, Cheng Li, Wei Ni, Nan Liu
Chapter 1: Mechatronics
Abstract:According to the working characteristics and installment environments of modules,a compact 6-DOF installing-calibrating robot was designed....
75
Authors: Constantin Ocnărescu
Chapter 2: Parallel Robots - Theory and Simulation
Abstract:A geometric and kinematic study between two structures of robots was performed, respectively a mechanical anthropomorphic structure, with...
137
Authors: Fattah Hanafi Sheikhha, Alireza Akbarzadeh
Chapter 1: Designing and Manufacturing in Mechanical Engineering
Abstract:The use of parallel manipulators in industrial is growing. Among key advantages of parallel manipulators versus their serial counterparts, is...
20