• 제목/요약/키워드: robot kinematic calibration

검색결과 28건 처리시간 0.026초

위치 정밀도 향상을 위한 관절강성 파라미터 포함 로봇 캘리브레이션 (Robot Calibration with Joint Stiffness Parameters for the Enhanced Positioning Accuracy)

  • 강희준;신성원;노영식;서영수;임현규;김동혁
    • 제어로봇시스템학회논문지
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    • 제14권4호
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    • pp.406-410
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    • 2008
  • This paper presents a new robot calibration algorithm with joint stiffness parameters for the enhanced positioning accuracy of industrial robot manipulators. This work is towards on-going development of an industrial robot calibration software which is able to identify both the kinematic and non-kinematic robot parameters. In this paper, the conventional kinematic calibration and its important considerations are briefly described first. Then, a new robot calibration algorithm which simultaneously identifies both the kinematic and joint stiffness parameters is presented and explained through a computer simulation with a 2 DOF manipulator. Finally, the developed algorithm is implemented to Hyundai HX165 robot and its resulting improvement of the positioning accuracy is addressed.

단일 바퀴 구동 캐스터 기반 모바일 로봇의 캘리브레이션 (Calibration of Mobile Robot with Single Wheel Powered Caster)

  • 김형철;박수한;박재흥
    • 로봇학회논문지
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    • 제17권2호
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    • pp.183-190
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    • 2022
  • Accurate kinematic parameters of mobile robots are essential because inaccurate kinematic model produces considerable uncertainties on its odometry and control. Especially, kinematic parameters of caster type mobile robots are important due to their complex kinematic model. Despite the importance of accurate kinematic parameters for caster type mobile robots, few research dealt with the calibration of the kinematic model. Previous study proposed a calibration method that can only calibrate double-wheeled caster type mobile robot and requires direct-measuring of robot center point and distance between casters. This paper proposes a calibration method based on geometric approach that can calibrate single-wheeled caster type mobile robot with two or more casters, does not require direct-measuring, and can successfully acquire all kinematic parameters required for control and odometry. Simulation and hardware experiments conducted in this paper validates the proposed calibration method and shows its performance.

레이저-비전 센서를 이용한 Autonomous Robot Kinematic Calibration (Autonomous Robot Kinematic Calibration using a Laser-Vision Sensor)

  • 정정우;강희준
    • 한국정밀공학회지
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    • 제16권2호통권95호
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    • pp.176-182
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    • 1999
  • This paper presents a new autonomous kinematic calibration technique by using a laser-vision sensor called "Perceptron TriCam Contour". Because the sensor measures by capturing the image of a projected laser line on the surface of the object, we set up a long, straight line of a very fine string inside the robot workspace, and then allow the sensor mounted on a robot to measure the point intersection of the line of string and the projected laser line. The point data collected by changing robot configuration and sensor measuring are constrained to on a single straght line such that the closed-loop calibration method can be applied. The obtained calibration method is simple and accurate and also suitable for on-site calibration in an industrial environment. The method is implemented using Hyundai VORG-35 for its effectiveness.

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레이저 트래커를 이용한 Delta 병렬로봇의 기구학적 보정 (Kinematic Calibration of Delta Parallel Robot Using Laser Tracker)

  • 정성훈;최준우;김한성
    • 한국산업융합학회 논문집
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    • 제24권6_2호
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    • pp.947-952
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    • 2021
  • In this paper, the simplified kinematic error model for Delta parallel robot is presented, which can enable the analytical forward kinematics essentially for kinematic calibration calculations instead of the numerical one. The simplified kinematic error model is proposed and the forward kinematics including the error parameters is analytically derived. The kinematic calibration algorithm of the Delta parallel robot with 90 degree arrangement using laser tracker and the experiment result are presented.

로봇의 기구학적 오차측정과 보상에 관한 연구 (Calibation and Compensation for the Kinematic Error in Robot Manipulatior)

  • 이종신;임성호;조희상;이의훈
    • 한국정밀공학회:학술대회논문집
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    • 한국정밀공학회 1993년도 추계학술대회 논문집
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    • pp.545-549
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    • 1993
  • This paper presents the method of calibrating and compensating for the kinematic errors in robot manipulators. A calibration model is developed to represent any geometric errors in the manipulator's structure. A calibration jig is used to find the values of these kinematic errors in the end-effector's position and a calibration algormined for a SSR-6 robot manipulator developed by Samsung Heavy Industry, Daeduk R & D Center. Through this experiment the maximun kinematic error is reduced from 10mm to 0.4mm

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로봇 캘리브레이션을 위한 모델 파라미터의 관측성 연구 (A Study on Observability of Model Parameters for Robot Calibration)

  • 범진환;양수상;임생기
    • 한국정밀공학회지
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    • 제14권4호
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    • pp.64-71
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    • 1997
  • Objective of calibration is to find out the accurate kinematic relationships between robot joint angles and the position of the end-effector by estimating accurate model parameters defining the kinematic function. Estimating the model parameters requires measurement of the end-effector position at a number of different robot configurations. This paper studies the implication of measurement configurations in robot calibration. For selecting appropriate measurement configurations in robot calibration, an index is defined to measure the observability of the model parameters with respect to a set of robot configurations. It is found that, as the observability index of the selected measurement configurations increase the attribution of the position errors to the parameter errors becomes dominant while the effects of the measurement and unmodeled errors are less significant; consequently better estimation of parameter errors is expected. To demonstrate the implication of the observability measure in robot calibration, computer simulations are performed and their results are discussed.

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화상정보를 이용한 로봇기구학의 오차 보정 (The compensation of kinematic differences of a robot using image information)

  • 이영진;이민철;안철기;손권;이장명
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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    • pp.1840-1843
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    • 1997
  • The task environment of a robot is changing rapidly and task itself becomes complicated due to current industrial trends of multi-product and small lot size production. A convenient user-interfaced off-line programming(OLP) system is being developed in order to overcome the difficulty in teaching a robot task. Using the OLP system, operators can easily teach robot tasks off-line and verify feasibility of the task through simulation of a robot prior to the on-line execution. However, some task errors are inevitable by kinematic differences between the robot model in OLP and the actual robot. Three calibration methods using image information are proposed to compensate the kinematic differences. These methods compose of a relative position vector method, three point compensation method, and base line compensation method. To compensate a kinematic differences the vision system with one monochrome camera is used in the calibration experiment.

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Kinematic Calibration of a Cartesian Parallel Manipulator

  • Kim, Han-Sung
    • International Journal of Control, Automation, and Systems
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    • 제3권3호
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    • pp.453-460
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    • 2005
  • In this paper, a prototype Cartesian Parallel Manipulator (CPM) is demonstrated, in which a moving platform is connected to a fixed frame by three PRRR limbs. Due to the orthogonal arrangement of the three prismatic joints, it behaves like a conventional X-Y-Z Cartesian robot. However, because all the linear actuators are mounted at the fixed frame, the manipulator may be suitable for applications requiring high speed and accuracy. Using a geometric method and the practical assumption that three revolute joint axes in each limb are parallel to one another, a simple forward kinematics for an actual model is derived, which is expressed in terms of a set of linear equations. Based on the error model, two calibration methods using full position and length measurements are developed. It is shown that for a full position measurement, the solution for the calibration can be obtained analytically. However, since a ball-bar is less expensive and sufficiently accurate for calibration, the kinematic calibration experiment on the prototype machine is performed by using a ball-bar. The effectiveness of the kinematic calibration method with a ball-bar is verified through the well­known circular test.

로보트 accuracy향상을 위한 kinematic identification (Kinematic Iidentification for Improving Robot Accuracy)

  • 조선휘;김문상;김귀식;장현상
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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    • pp.131-137
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    • 1989
  • The effect of kinematic model choice on robot calibration is examined. This paper presents a complete formulation to identify the actual robot kinematic parameters directly from position data. The method presented in this paper applies to any serial link manipulator with arbitrary order and combination of revolute and prismatic joint.

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Off-line programming sysytem을 위한 로보트운동계의 calibration (Calibration of robot kinematics for the off-line programming system)

  • 김문상
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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    • pp.511-517
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    • 1988
  • Movement order program of robot operating program is generally made by teach-in method. Therefore in most cases it is sufficient as long as the robot system shows a reguired repeatability for the working conditions. But the trend in the robot application moves to the automatic generation of the working programs. A mathematical robot model similar to the reality is necessary for the analysis of the kinematic transformation of the robot system. The purposes of this paper are to make a better describing form and to suggest an automatic algorithm for kinematic parameter identification.

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