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

A New Full Pose Measurement Method for Robot Calibration

1email, 1email and 2,* email
Received: 1 April 2013; in revised form: 6 May 2013 / Accepted: 15 July 2013 / Published: 16 July 2013
(This article belongs to the Section Physical Sensors)
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.
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
PDF Full-text Download PDF Full-Text [679 KB, uploaded 21 June 2014 07:55 CEST]

Export to BibTeX |
EndNote


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.

AMA Style

Nguyen H-N, Zhou J, Kang H-J. A New Full Pose Measurement Method for Robot Calibration. Sensors. 2013; 13(7):9132-9147.

Chicago/Turabian Style

Nguyen, Hoai-Nhan; Zhou, Jian; Kang, Hee-Jun. 2013. "A New Full Pose Measurement Method for Robot Calibration." Sensors 13, no. 7: 9132-9147.


Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert