Next Article in Journal
Optimizing the Thermal Read-Out Technique for MIP-Based Biomimetic Sensors: Towards Nanomolar Detection Limits
Previous Article in Journal
An Early Underwater Artificial Vision Model in Ocean Investigations via Independent Component Analysis
Sensors 2013, 13(7), 9132-9147; doi:10.3390/s130709132

A New Full Pose Measurement Method for Robot Calibration

Received: 1 April 2013 / Revised: 6 May 2013 / Accepted: 15 July 2013 / Published: 16 July 2013
(This article belongs to the Section Physical Sensors)
View Full-Text   |   Download PDF [679 KB, uploaded 21 June 2014]   |   Browse Figures


Identification of robot kinematic errors during the calibration process often requires accurate full pose measurements (position and orientation) of robot end-effectors in Cartesian space. This paper proposes a new method of full pose measurement of robot end-effectors for calibration. This method is based on an analysis of the features of a set of target points (placed on a rotating end-effector) on a circular trajectory. The accurate measurement is validated by computational simulation results from the Puma robot. Moreover, experimental calibration and validation results for the Hyundai HA-06 robot prove the effectiveness, correctness, and reliability of the proposed method. This method can be applied to robots that have entirely revolute joints or to robots for which only the last joint is revolute.
Keywords: full pose measurement; robotic manipulator; robot calibration full pose measurement; robotic manipulator; robot calibration
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Share & Cite This Article

Further Mendeley | CiteULike
Export to BibTeX |
MDPI and ACS Style

Nguyen, H.-N.; Zhou, J.; Kang, H.-J. A New Full Pose Measurement Method for Robot Calibration. Sensors 2013, 13, 9132-9147.

View more citation formats

Related Articles

Article Metrics

For more information on the journal, click here


Cited By

[Return to top]
Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert