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Automatic kinematic calibration of a modular Gantry-Tau parallel robot from a kinematics point of view

Dressler, Isolde LU ; Robertsson, Anders LU and Johansson, Rolf LU (2008) IEEE International Conference on Robotics and Automation, 2008 In 2008 IEEE International Conference on Robotics and Automation, vols 1-9 p.1282-1287
Abstract
A method for computer assisted kinematic calibration of a modular Gantry-Tau parallel robot is presented and tested in an experiment. A computer tool developed executes the first step of a kinematic calibration, the choice of appropriate measurement points, using a priori knowledge about kinematic parameters, e.g. obtained with a measuring tape. This step is performed by intersecting the robot's kinematic workspace and the area surveyable by the measurement device and overlaying it with a grid of a desired number of measurement points. A simulation determines automatically whether the choice leads to an accurate calibration and outputs a trajectory readable by a robot controller. In a calibration experiment it is shown that the method... (More)
A method for computer assisted kinematic calibration of a modular Gantry-Tau parallel robot is presented and tested in an experiment. A computer tool developed executes the first step of a kinematic calibration, the choice of appropriate measurement points, using a priori knowledge about kinematic parameters, e.g. obtained with a measuring tape. This step is performed by intersecting the robot's kinematic workspace and the area surveyable by the measurement device and overlaying it with a grid of a desired number of measurement points. A simulation determines automatically whether the choice leads to an accurate calibration and outputs a trajectory readable by a robot controller. In a calibration experiment it is shown that the method gives results with an accuracy comparable to that of manual calibration. The method allows non-experts to execute kinematic calibration of modular robots after reconfiguration thus making possible the use of modular robots in small size enterprises where such robots can answer the need for flexibility required with regularly changing tasks. (Less)
Please use this url to cite or link to this publication:
author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
in
2008 IEEE International Conference on Robotics and Automation, vols 1-9
pages
1282 - 1287
publisher
IEEE--Institute of Electrical and Electronics Engineers Inc.
conference name
IEEE International Conference on Robotics and Automation, 2008
external identifiers
  • wos:000258095000203
  • scopus:51649091747
ISSN
1050-4729
2152-4092
ISBN
978-1-4244-1646-2
DOI
10.1109/ROBOT.2008.4543380
language
English
LU publication?
yes
id
8b6138fa-7c80-4a67-a33d-7fb6f082c6e1 (old id 1406132)
date added to LUP
2009-06-08 14:06:47
date last changed
2017-01-01 04:36:03
@inproceedings{8b6138fa-7c80-4a67-a33d-7fb6f082c6e1,
  abstract     = {A method for computer assisted kinematic calibration of a modular Gantry-Tau parallel robot is presented and tested in an experiment. A computer tool developed executes the first step of a kinematic calibration, the choice of appropriate measurement points, using a priori knowledge about kinematic parameters, e.g. obtained with a measuring tape. This step is performed by intersecting the robot's kinematic workspace and the area surveyable by the measurement device and overlaying it with a grid of a desired number of measurement points. A simulation determines automatically whether the choice leads to an accurate calibration and outputs a trajectory readable by a robot controller. In a calibration experiment it is shown that the method gives results with an accuracy comparable to that of manual calibration. The method allows non-experts to execute kinematic calibration of modular robots after reconfiguration thus making possible the use of modular robots in small size enterprises where such robots can answer the need for flexibility required with regularly changing tasks.},
  author       = {Dressler, Isolde and Robertsson, Anders and Johansson, Rolf},
  booktitle    = {2008 IEEE International Conference on Robotics and Automation, vols 1-9},
  isbn         = {978-1-4244-1646-2},
  issn         = {1050-4729},
  language     = {eng},
  pages        = {1282--1287},
  publisher    = {IEEE--Institute of Electrical and Electronics Engineers Inc.},
  title        = {Automatic kinematic calibration of a modular Gantry-Tau parallel robot from a kinematics point of view},
  url          = {http://dx.doi.org/10.1109/ROBOT.2008.4543380},
  year         = {2008},
}