Next Article in Journal
Sudden Event Recognition: A Survey
Next Article in Special Issue
Spectroscopic Determination of Aboveground Biomass in Grasslands Using Spectral Transformations, Support Vector Machine and Partial Least Squares Regression
Previous Article in Journal
A Phenomenological Model for the Photocurrent Transient Relaxation Observed in ZnO-Based Photodetector Devices
Previous Article in Special Issue
Multivariate Thermo-Hygrometric Characterisation of the Archaeological Site of Plaza de l’Almoina (Valencia, Spain) for Preventive Conservation
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

1
,
2,* , 2
,
3
 and
4
1 Postgrado, Universidad Aeronáutica de Querétaro, Carretera Estatal 200, Tequisquiapan 22154, 76270 Colón, Mexico 2 CAR-UPM-CSIC, Universidad Politécnica de Madrid, c/José Gutiérrez Abascal 2, 28006 Madrid, Spain 3 Instituto de Automática, Universidad Nacional de San Juan, Av. San Martín Oeste 1109, 5400 San Juan, Argentina 4 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 / Revised: 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)
View Full-Text   |   Download PDF [1024 KB, uploaded 21 June 2014]   |   Browse Figures

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 kinematic calibration; external sensor calibration; one-camera-in-hand sensor; parallel mechanism; parallel robot; visual servoing
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 |
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.

View more citation formats

Related Articles

Article Metrics

For more information on the journal, click here

Comments

Cited By

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