Memorias de investigación
Ponencias en congresos:
A method for Kinematic Calibration of a Parallel Robot by using one camera in hand and a spherical object
Año:2011
Áreas de investigación
  • Ingeniería eléctrica, electrónica y automática
Datos
Descripción
The main purpose of robot calibration is the correction of the possible errors in the robot parameters. This paper presents a method for a kinematic calibration of a parallel robot that is equipped with one camera in hand. In order to preserve the mechanical configuration of the robot, the camera is utilized to acquire incremental positions of the end effector from a spherical object that is fixed in the word reference frame. The positions of the end effector are related to incremental positions of resolvers of the motors of the robot, and a kinematic model of the robot is used to find a new group of parameters which minimizes errors in the kinematic equations. Additionally, properties of the spherical object and intrinsic camera parameters are utilized to model the projection of the object in the image and improving spatial measurements. Finally, the robotic system is designed to carry out tracking tasks and the calibration of the robot is validated by means of integrating the errors of the visual controller.
Internacional
Si
Nombre congreso
15th Internacional Conference on Advances Robotics (ICAR 2011)
Tipo de participación
960
Lugar del congreso
Tallinn, Estonia
Revisores
Si
ISBN o ISSN
978-1-4577-1157-2
DOI
Fecha inicio congreso
20/06/2011
Fecha fin congreso
23/06/2011
Desde la página
75
Hasta la página
81
Título de las actas
Proceedings del Congreso
Esta actividad pertenece a memorias de investigación
Participantes
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
  • Creador: Grupo de Investigación: Robots y máquinas inteligentes
  • Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
  • Departamento: Automática, Ingeniería Electrónica e Informática Industrial