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A Novel Method for Geometric Robot Calibration Using Laser Pointer and Cameras

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Advances in Service and Industrial Robotics (RAAD 2017)

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 49))

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Abstract

This paper presents a novel low cost strategy for the geometric calibration of industrial robots. The nominal geometric parameters of the robot are therefore enhanced by 30 calibration parameters such as length errors, axes misalignment, gear backlash and joint offsets. Additionally the elastic deflection between motor and arm positions due to finite gear stiffness is included. For the calibration procedure, a laser pointer is mounted on the end-effector of the robot pointing towards a measurement plane. This point is measured by a camera and the beam is controlled to three defined evaluation points by movements of the robot closing a kinematic loop. The procedure is repeated for 83 different optimized poses of the robot. The closed kinematic loops are used to calculate the unknown error parameters utilizing the Levenberg-Marquardt algorithm. For verification purposes, the accuracy of the EE is measured at 100 random positions. A comparison of the proposed method to a laser-tracker calibration is presented. Both methods result in a similar accuracy range.

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Acknowledgments

This work has been supported by the Austrian COMET-K2 program of the Linz Center of Mechatronics (LCM).

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Correspondence to Hubert Gattringer .

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Gattringer, H., Neubauer, M., Kaserer, D., Müller, A. (2018). A Novel Method for Geometric Robot Calibration Using Laser Pointer and Cameras. In: Ferraresi, C., Quaglia, G. (eds) Advances in Service and Industrial Robotics. RAAD 2017. Mechanisms and Machine Science, vol 49. Springer, Cham. https://doi.org/10.1007/978-3-319-61276-8_23

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  • DOI: https://doi.org/10.1007/978-3-319-61276-8_23

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-61275-1

  • Online ISBN: 978-3-319-61276-8

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