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Proceedings Paper

Autonomous kinematic calibration for robot with force sensor
Author(s): Dongbo Zhao; Youlun Xiong
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Paper 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.

Paper Details

Date Published: 28 August 1995
PDF: 5 pages
Proc. SPIE 2620, International Conference on Intelligent Manufacturing, (28 August 1995); doi: 10.1117/12.217557
Show Author Affiliations
Dongbo Zhao, Huazhong Univ. of Science and Technology (China)
Youlun Xiong, Huazhong Univ. of Science and Technology (China)

Published in SPIE Proceedings Vol. 2620:
International Conference on Intelligent Manufacturing
Shuzi Yang; Ji Zhou; Cheng-Gang Li, Editor(s)

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