Memorias de investigación
Research Publications in journals:
An Inexpensive Method for Kinematic Calibration of a Parallel Robot by Using One Hand-Held Camera as Main Sensor
Year:2013
Research Areas
  • Engineering
Information
Abstract
This paper presents a novel method for the calibration of a parallel robot, which allows a more accurate configuration instead of a configuration based on nominal parameters. It is used, as the main sensor with one camera installed in the robot hand that determines the relative position of the robot with respect to a spherical object fixed in the working area of the robot. The positions of the end effector are related to the incremental positions of resolvers of the robot motors. 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 thereby improve spatial measurements. Finally, several working tests, static and tracking tests are executed in order to verify how the robotic system behaviour improves by using calibrated parameters against nominal parameters. In order to emphasize that, this proposed new method uses neither external nor expensive sensor. That is why new robots are useful in teaching and research activities.
International
Si
JCR
Si
Title
Sensors
ISBN
1424-8220
Impact factor JCR
1,953
Impact info
Volume
13
10.3390/s130809941
Journal number
From page
9941
To page
9965
Month
SIN MES
Ranking
Participants
  • Autor: Alberto Traslosheros Universidad Aeronáutica de Querétaro,
  • Autor: Jose Maria Sebastian Zuñiga UPM
  • Autor: Jesus Torrijos Universidad Politécnica de Madrid
  • Autor: Ricardo Carelli Universidad Nacional de San Juan
  • Autor: Eduardo Castillo CICATA, México
Research Group, Departaments and Institutes related
  • 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