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Sensors 2013, 13(7), 9132-9147; doi:10.3390/s130709132

A New Full Pose Measurement Method for Robot Calibration

1
Graduate School of Electrical Engineering, University of Ulsan, Mugeo 2-Dong, Namgu, Ulsan City 680-749, Korea
2
School of Electrical Engineering, University of Ulsan, Mugeo 2-Dong, Namgu, Ulsan City 680-749, Korea
*
Author to whom correspondence should be addressed.
Received: 1 April 2013 / Revised: 6 May 2013 / Accepted: 15 July 2013 / Published: 16 July 2013
(This article belongs to the Section Physical Sensors)
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Abstract

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 (CC BY 3.0).

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

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