An active technique for piecewise calibration of robot manipulators

Robot calibration is essential to improve the positioning accuracy of robot manipulators. A mathematical (kinematic) model is used to describe the geometric structure of a robot manipulator. Robot calibration procedure involves calculating and improving the values of this model's parameters. The robot calibration technique presented in this paper uses a vision system, to calibrate the kinematic model. For an n-linked robot manipulator, the procedure calibrates one link at a time, starting with the n/sup th/ link by making small movements. The resulting equations are linear, consequently, the algorithms are simple.

Authors

• Kavita Ravi
• Anup Basu

Keywords

• Calibration
• Manipulators
• Robot vision systems
• Robot sensing systems
• Cameras
• Orbital robotics
• Robot kinematics
• Machine vision
• Equations
• Robotic assembly
• Robot Manipulator
• Calibration Technique
• Optical Axis
• Calibration Procedure
• Coordinate Frame
• Camera Coordinate System
• Robotic Gripper
• Parameter Estimates
• 3D Point
• Kinematic Parameters
• Single Camera
• Rotation Error
• Revolute Joints
• Movement Angle
• Camera Measurements
• Link Parameters