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Finding the Kinematic Base Frame of a Robot by Hand-Eye Calibration Using 3D Position Data_Video

April 2018

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Liao Wu

UNSW Sydney

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Finding the Kinematic Base Frame of a Robot by Hand-Eye Calibration Using 3D Position Data

Article

January 2016

Liao Wu · Hongliang Ren

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An improved kinematic calibration method for serial manipulators based on POE formula

May 2018 · Robotica

Existing measurement equipments easily determine position with high precision. However, they evaluate orientation with low precision. It is necessary to minimize the effect of measurement error on identification accuracy. In this study, a method for kinematic calibration based on the product of exponentials (POE) is presented to improve the absolute positioning accuracy of a sliding manipulator. ... [Show full abstract] An error model with uniform and generic modeling rules is established in which the tool frame is selected as the reference frame. Furthermore, the redundant parameters of the error model are removed. Subsequently, the actual kinematic parameters are identified by using the least square method. Finally, the process of the improved method is discussed. Kinematic calibration simulations of a sliding manipulator are implemented. The results indicate that the proposed method significantly improves the precision of the sliding manipulator. The improved POE kinematic calibration method offers convenience, efficiency, and high precision. The proposed method can be applied to all types of serial robots with n -DOF

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A Step Identification Method for Kinematic Calibration of a 6-DOF Serial Robot

November 2017 · Lecture Notes in Electrical Engineering

In order to improve the kinematic calibration accuracy, this paper proposes a step identification method for link 6-DOF serial robot. Firstly, kinematic model of serial robot was established based on the D-H parameter method. And then, a step identification method (SIM) for robot calibration was presented, including the offset of sphere-cally mounted reflection (SMR) and Frame offset, and the ... [Show full abstract] robot parameters. Finally, a calibration experiment was carried out to verify the effectiveness of the proposed identification method. The results demonstrate that the accuracy of robot have an improvement of 50.31 % after calibration. Hence, the step identification method established in this study is feasible and efficient.

Article

Simultaneous intrinsic and extrinsic calibration of hand-mounted laser range finder

January 2005

In this paper, we propose a new calibration method based on a genetic algorithm to determine the model parameters of a hand-mounted laser range finder. A laser range finder, consisting of a camera and a laser stripe projector, is used as a sensor component of the robotic measurement system, and it measures the range data with respect to the robot base frame using robot forward kinematics and the ... [Show full abstract] optical triangulation principle. For the optimal estimation of the model parameters, a real-coded genetic algorithm is applied to the calibration process, which minimizes the overall residual errors between the known reference points and their estimated results. The proposed scheme identifies the intrinsic and extrinsic model parameters of the hand-mounted laser range finder simultaneously. Also it does not require good initial guesses of the system parameters to converge at a very stable solution and it could be applied to a kinematically dissimilar robot system without loss of generality.

Conference Paper

Improved and Modified Geometric Formulation of POE Based Kinematic Calibration of Serial Robots

December 2009

The authors proposed in this paper an improved geometric formulation of POE (product of exponential) based kinematic calibration of serial robots. We use both joint offset-free formulation and adjoint transformation errors of joint screws, and apply it to the calibration of an elbow manipulator. Our formulation explains why the original POE calibration always fails with the existence of joint ... [Show full abstract] offset errors; the adjoint formulation of joint screw errors eliminates joint screw constraints that was imposed in the original iterated least square calibration algorithm. The second contribution of this paper is the proposal of a modified POE formulation which adopts point measurement data instead of frame measurement data of the end-effector, which can be more realistic and convenient for practical implementation. Simulation results show that the proposed method is plausible and effective. An experiment is under preparation to verify the effectiveness of the proposed calibration method on an elbow manipulator built by Googol Technology.

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