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An Inexpensive Method for Kinematic Calibration of a Parallel Robot by Using One Hand-Held Camera as Main Sensor
Postgrado, Universidad Aeronáutica de Querétaro, Carretera Estatal 200, Tequisquiapan 22154, 76270 Colón, Mexico
CAR-UPM-CSIC, Universidad Politécnica de Madrid, c/José Gutiérrez Abascal 2, 28006 Madrid, Spain
Instituto de Automática, Universidad Nacional de San Juan, Av. San Martín Oeste 1109, 5400 San Juan, Argentina
Instituto Politécnico Nacional, CICATA, México, Department of Mechatronics, Cerro Blanco 141, 76090 Querétaro, Mexico
* Author to whom correspondence should be addressed.
Received: 21 May 2013; in revised form: 27 June 2013 / Accepted: 27 July 2013 / Published: 5 August 2013
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
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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.
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.
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.