Using Full Pose Measurement for Serial Robot Calibration

Author:

Franaszek MarekORCID,Marvel Jeremy A.ORCID

Abstract

To ensure smooth robot operations, parameters of its kinematic model and a registration transformation between robot base and world coordinate frame must be determined. Both tasks require data acquired by external sensors that can measure either 3D locations or full 6D poses. We show that use of full pose measurements leads to much smaller robot orientation errors when compared with the outcome of calibration and registration procedures based on 3D data only. Robot position errors are comparable for both types of data. The conclusion is based on extensive simulations of 7 degrees of freedom robot arm and different levels of pseudo-noise perturbing both positional and rotational components of pose.

Publisher

MDPI AG

Subject

Fluid Flow and Transfer Processes,Computer Science Applications,Process Chemistry and Technology,General Engineering,Instrumentation,General Materials Science

Cited by 2 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. A novel approach for robot calibration based on measurement sub-regions with comparative validation;The International Journal of Advanced Manufacturing Technology;2024-02-21

2. Special Issue on Trends and Challenges in Robotic Applications;Applied Sciences;2023-08-10

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