28 August 1995 Autonomous kinematic calibration for robot with force sensor
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Proceedings Volume 2620, International Conference on Intelligent Manufacturing; (1995) https://doi.org/10.1117/12.217557
Event: International Conference on Intelligent Manufacturing, 1995, Wuhan, China
Abstract
This paper presents an autonomous calibration procedure for identifying robot geometric parameters using a wrist force sensor, which guides the robot end effector to track the section contour of an accurately cylindrical workpiece and to find its center. The information from the wrist sensor is needed to determine the motion direction for the end effector and to generate control strategy (hybrid control law of position and force), meanwhile the force vector is required to correct the deformation of the manipulator, which maps in turn into the joint differential vector. The system of constraint equation is in fact nonlinear, and can be linearized for the constraint surface of the cylinder. Simulation has been performed for a PUMA 760 robot and the result shows that the robot positioning accuracy can be improved to the level of the repeatability by the proposed calibration method.
© (1995) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Dongbo Zhao, Dongbo Zhao, Youlun Xiong, Youlun Xiong, } "Autonomous kinematic calibration for robot with force sensor", Proc. SPIE 2620, International Conference on Intelligent Manufacturing, (28 August 1995); doi: 10.1117/12.217557; https://doi.org/10.1117/12.217557
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