Sensors 2013, 13(8), 9941-9965; doi:10.3390/s130809941
Article

An Inexpensive Method for Kinematic Calibration of a Parallel Robot by Using One Hand-Held Camera as Main Sensor

1email, 2,* email, 2email, 3email and 4email
Received: 21 May 2013; in revised form: 27 June 2013 / Accepted: 27 July 2013 / Published: 5 August 2013
(This article belongs to the Special Issue State-of-the-Art Sensors Technology in Spain 2013)
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: This paper presents a novel method for the calibration of a parallel robot, which allows a more accurate configuration instead of a configuration based on nominal parameters. It is used, as the main sensor with one camera installed in the robot hand that determines the relative position of the robot with respect to a spherical object fixed in the working area of the robot. The positions of the end effector are related to the incremental positions of resolvers of the robot motors. A kinematic model of the robot is used to find a new group of parameters, which minimizes errors in the kinematic equations. Additionally, properties of the spherical object and intrinsic camera parameters are utilized to model the projection of the object in the image and thereby improve spatial measurements. Finally, several working tests, static and tracking tests are executed in order to verify how the robotic system behaviour improves by using calibrated parameters against nominal parameters. In order to emphasize that, this proposed new method uses neither external nor expensive sensor. That is why new robots are useful in teaching and research activities.
Keywords: kinematic calibration; external sensor calibration; one-camera-in-hand sensor; parallel mechanism; parallel robot; visual servoing
PDF Full-text Download PDF Full-Text [1024 KB, uploaded 21 June 2014 08:15 CEST]

Export to BibTeX |
EndNote


MDPI and ACS Style

Traslosheros, A.; Sebastián, J.M.; Torrijos, J.; Carelli, R.; Castillo, E. An Inexpensive Method for Kinematic Calibration of a Parallel Robot by Using One Hand-Held Camera as Main Sensor. Sensors 2013, 13, 9941-9965.

AMA Style

Traslosheros A, Sebastián JM, Torrijos J, Carelli R, Castillo E. An Inexpensive Method for Kinematic Calibration of a Parallel Robot by Using One Hand-Held Camera as Main Sensor. Sensors. 2013; 13(8):9941-9965.

Chicago/Turabian Style

Traslosheros, Alberto; Sebastián, José M.; Torrijos, Jesús; Carelli, Ricardo; Castillo, Eduardo. 2013. "An Inexpensive Method for Kinematic Calibration of a Parallel Robot by Using One Hand-Held Camera as Main Sensor." Sensors 13, no. 8: 9941-9965.


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