Title: Self-calibration for industrial robots with rotational joints

Authors: Katayon Radkhah, Thomas Hemker, Oskar Von Stryk

Addresses: Department of Computer Science, Technische Universitat Darmstadt, 64283 Darmstadt, Germany. ' Department of Computer Science, Technische Universitat Darmstadt, 64283 Darmstadt, Germany. ' Department of Computer Science, Technische Universitat Darmstadt, 64283 Darmstadt, Germany

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.

Keywords: self-calibration; robot calibration; positioning accuracy; industrial robots; geometric effects; nongeometric effects; joint elasticities; extended forward kinematics; kinematic parameter identification; measuring systems.

DOI: 10.1504/IJMMS.2010.033183

International Journal of Mechatronics and Manufacturing Systems, 2010 Vol.3 No.3/4, pp.187 - 209

Available online: 10 May 2010 *

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