Abstract
A two-step self-calibration method based on portable calibration devices is proposed in this paper. In the first step, the distance errors in a large-range workspace is utilized to calibrate the manipulator. In the second step, the position errors is utilized to calibrate an external world frame to describe all the coordinate systems in a robot cell and further enhance the calibration results in the first step. For each step, a linear and simplified calibration model is then formulated by employing the local POE formula and introducing the position adjoint conversion matrix. Based on the calibration model, portable and cost-effective self-calibration devices are designed, which consist of a spherical center measuring device, a movable ball bar and Tri-ball plate. The calibration devices presented can obtain distance errors in a large-range workspace and position errors in a local workspace of a manipulator, which enhance the reliability of the calibration results and set an external reference frame. Finally, an accurate kinematic model with respect to the external user-defined frame is given, which enables the off-line programming to be more accurate and effective. The simulation results demonstrate that the proposed two-step self-calibration algorithm is effective and robust.
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Acknowledgements
This work was supported by the National Key R & D Program of China (Grant No. 2017YFB1300400), the National-Zhejiang Joint Natural Science Foundation of China (Grant No. U1509202), Equipment Advanced Research Fund of China (Grant No. 6140923010102), the Key R & D Program of Zhejiang Province (Grant No. 2018C01086), NSFC-Shenzhen Robotic Fundamental Research Center Project (Grant No. U1813223).
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Gu, L. et al. (2019). A Two-Step Self-calibration Method with Portable Measurement Devices for Industrial Robots Based on POE Formula. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11740. Springer, Cham. https://doi.org/10.1007/978-3-030-27526-6_63
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DOI: https://doi.org/10.1007/978-3-030-27526-6_63
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