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Robot calibration based on multi-thread particle swarm optimization

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3 Author(s)
Aiguo Li ; Automation Research Center, Dalian Maritime University, 116026, China ; Defeng Wu ; Zi Ma

Main contributions include: (1) A platform composed of a structure-light vision sensor and a industrial robot is established for robot calibration. (2) Transform the robot calibration to an optimization problem through measuring a fixed point at different hand poses and positions. (3) A multi-thread particle swarm optimization algorithm is proposed and applied in robot kinematic parameter estimation. The effectiveness of the proposed method is validated by simulation.

Published in:

2008 6th IEEE International Conference on Industrial Informatics

Date of Conference:

13-16 July 2008