Notification:
We are currently experiencing intermittent issues impacting performance. We apologize for the inconvenience.
By Topic

Automated partial pose measurement system for manipulator calibration experiments

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Driels, M.R. ; Dept. of Mech. Eng., Naval Postgraduate Sch., Monterey, CA, USA ; Swayze, W.E.

The work reported here is concerned with methods used to provide partial pose data for robot calibration tests. Rather than focussing on traditional, precision measurement techniques, the paper discusses calibration using end point motion constraints of various kinds. The preferred method consists of using a wire potentiometer attached to the robot tool by means of two specially designed fixtures. Suitable modeling of the measurement system as well as the internal kinematics of the manipulator allows simulation of the calibration process. Experimental results obtained in the calibration of an industrial manipulator is presented, and means to make the complete calibration process automatic is discussed

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:10 ,  Issue: 4 )