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Open AccessArticle

Self-Calibration of an Industrial Robot Using a Novel Affordable 3D Measuring Device

1
SRI International, Menlo Park, CA 94025, USA
2
École de Technologie Supérieure (ÉTS), University of Quebec, Montreal, QC H3C 1K3, Canada
*
Authors to whom correspondence should be addressed.
Sensors 2018, 18(10), 3380; https://doi.org/10.3390/s18103380
Received: 20 August 2018 / Revised: 5 October 2018 / Accepted: 6 October 2018 / Published: 10 October 2018
(This article belongs to the Section Physical Sensors)
This work shows the feasibility of calibrating an industrial robot arm through an automated procedure using a new, low-cost, wireless measuring device mounted on the robot’s flange. The device consists of three digital indicators that are fixed orthogonally to each other on an aluminum support. Each indicator has a measuring accuracy of 3 µm. The measuring instrument uses a kinematic coupling platform which allows for the definition of an accurate and repeatable tool center point (TCP). The idea behind the calibration method is for the robot to bring automatically this TCP to three precisely-known positions (the centers of three precision balls fixed with respect to the robot’s base) and with different orientations of the robot’s end-effector. The self-calibration method was tested on a small six-axis industrial robot, the ABB IRB 120 (Vasteras, Sweden). The robot was modeled by including all its geometrical parameters and the compliance of its joints. The parameters of the model were identified using linear regression with the least-square method. Finally, the performance of the calibration was validated with a laser tracker. This validation showed that the mean and the maximum absolute position errors were reduced from 2.628 mm and 6.282 mm to 0.208 mm and 0.482 mm, respectively. View Full-Text
Keywords: precision; robot calibration; robot accuracy; autonomous calibration; closed-loop calibration; self-calibration precision; robot calibration; robot accuracy; autonomous calibration; closed-loop calibration; self-calibration
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MDPI and ACS Style

Gaudreault, M.; Joubair, A.; Bonev, I. Self-Calibration of an Industrial Robot Using a Novel Affordable 3D Measuring Device. Sensors 2018, 18, 3380. https://doi.org/10.3390/s18103380

AMA Style

Gaudreault M, Joubair A, Bonev I. Self-Calibration of an Industrial Robot Using a Novel Affordable 3D Measuring Device. Sensors. 2018; 18(10):3380. https://doi.org/10.3390/s18103380

Chicago/Turabian Style

Gaudreault, Martin; Joubair, Ahmed; Bonev, Ilian. 2018. "Self-Calibration of an Industrial Robot Using a Novel Affordable 3D Measuring Device" Sensors 18, no. 10: 3380. https://doi.org/10.3390/s18103380

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