Observatorio de I+D+i UPM

Memorias de investigación
Artículos en revistas:
An Inexpensive Method for Kinematic Calibration of a Parallel Robot by Using One Hand-Held Camera as Main Sensor
Año:2013
Áreas de investigación
  • Ingenierías
Datos
Descripción
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.
Internacional
Si
JCR del ISI
Si
Título de la revista
Sensors
ISSN
1424-8220
Factor de impacto JCR
1,953
Información de impacto
Volumen
13
DOI
10.3390/s130809941
Número de revista
Desde la página
9941
Hasta la página
9965
Mes
SIN MES
Ranking
Esta actividad pertenece a memorias de investigación
Participantes
  • 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)
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
S2i 2021 Observatorio de investigación @ UPM con la colaboración del Consejo Social UPM
Cofinanciación del MINECO en el marco del Programa INNCIDE 2011 (OTR-2011-0236)
Cofinanciación del MINECO en el marco del Programa INNPACTO (IPT-020000-2010-22)