Robot Calibration for Cooperative Process under Typical Installation
Joint Authors
Dong, Donghui
Gan, Yahui
Dai, Xianzhong
Source
Journal of Applied Mathematics
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-04-24
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
A method with easy operation procedure and simple calibration condition is presented in this paper to solve the base frame calibration problem for cooperative robots.
It is carried out through constructing a series of handclasp configurations and recording coordinates of the contact points, respectively, in base frame of each robot.
Then the rotation matrix and translation matrix between base frame of cooperative robots can be calculated which is just the calibration result for cooperative robots.
Based on typical installation mode for industrial robot, the floor mounted, wall mounted and ceiling mounted, constraints between base frames of these robots are further explored.
These constraints are used to improve the calibration results for base frame calibration problem.
In order to validate the correctness and effectiveness of our method, experiments on two industrial robots (Motoman VA1400 and HP20) are carried out at the end of the paper.
The calibration errors are less than 8 mm in most cases, which satisfies the requirement of positioning accuracy for most industrial process, such as arc welding, transporting, and cutting.
These experiment results assert the correctness of our method which can be used effectively to solve the base frame calibration problem for cooperative robots in manufacturing process.
American Psychological Association (APA)
Gan, Yahui& Dai, Xianzhong& Dong, Donghui. 2014. Robot Calibration for Cooperative Process under Typical Installation. Journal of Applied Mathematics،Vol. 2014, no. 2014, pp.1-12.
https://search.emarefa.net/detail/BIM-482117
Modern Language Association (MLA)
Gan, Yahui…[et al.]. Robot Calibration for Cooperative Process under Typical Installation. Journal of Applied Mathematics No. 2014 (2014), pp.1-12.
https://search.emarefa.net/detail/BIM-482117
American Medical Association (AMA)
Gan, Yahui& Dai, Xianzhong& Dong, Donghui. Robot Calibration for Cooperative Process under Typical Installation. Journal of Applied Mathematics. 2014. Vol. 2014, no. 2014, pp.1-12.
https://search.emarefa.net/detail/BIM-482117
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-482117