A calibration framework for industrial robotic work cells

In this paper, a robot accuracy enhancement framework is proposed where localization and calibration techniques are seamlessly integrated and targeted at industrial robotic work cells. The framework focuses on capitalizing on the strengths of one process to compensate for the inherent weakness of th...

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Bibliographic Details
Published in2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics pp. 1637 - 1642
Main Authors Pey Yuen Tao, Guilin Yang, Tomizuka, Masayoshi
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.07.2013
Subjects
Calibration
Computational modeling
Joints
Robot kinematics
Robot sensing systems
Service robots
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Summary:In this paper, a robot accuracy enhancement framework is proposed where localization and calibration techniques are seamlessly integrated and targeted at industrial robotic work cells. The framework focuses on capitalizing on the strengths of one process to compensate for the inherent weakness of the other. Specifically, localization approaches can improve the robot accuracy locally around the compensation pose to high levels via sensor feedback, while calibration improves the nominal robot kinematic model thereby extending the effects of localization to a larger working envelope. In addition, the proposed framework uses localization results as training data for the calibration process without incurring additional measurement costs. A simulation study is conducted to verify the effectiveness of the proposed framework.
ISBN:1467353191
9781467353199
ISSN:2159-6247
2159-6255
DOI:10.1109/AIM.2013.6584331