Self-calibration for industrial robots with rotational joints Online publication date: Mon, 10-May-2010
by Katayon Radkhah, Thomas Hemker, Oskar Von Stryk
International Journal of Mechatronics and Manufacturing Systems (IJMMS), Vol. 3, No. 3/4, 2010
Abstract: We suggest a novel self-calibration method for industrial robots. Measurement technologies based on industrial robots play an increasingly important role. Existing approaches are disadvantageous because of the use of additional external measuring systems and the time-consuming and cost-intensive determination of the robot base. We propose a procedure for a simple experimental setup including one CCD camera. A further novelty is the use of an extended forward kinematic model incorporating both geometric and nongeometric parameters. Both novelties facilitate the use of industrial robots as measuring systems. This work lays the foundations for a cost-minimal and effective deployment of robots as measuring instruments.
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Mechatronics and Manufacturing Systems (IJMMS):
Login with your Inderscience username and password:
Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.
If you still need assistance, please email subs@inderscience.com