An Inexpensive Method for Kinematic Calibration of a Parallel Robot by Using One Hand-Held Camera as Main Sensor

Sensors

Alberto Traslosheros²  José Mar໚ Sebastián¹  Jesús Torrijos¹  Ricardo Carelli³ 

[1] CAR-UPM-CSIC, Universidad Politécnica de Madrid, c/José Gutiérrez Abascal 2, 28006 Madrid, Spain; E-Mail:;Postgrado, Universidad Aeronáutica de Querétaro, Carretera Estatal 200, Tequisquiapan 22154, 76270 Colón, Mexico; E-Mail:;Instituto de Automática, Universidad Nacional de San Juan, Av. San Martín Oeste 1109, 5400 San Juan, Argentina; E-Mail:

关键词: kinematic calibration;    external sensor calibration;    one-camera-in-hand sensor;    parallel mechanism;    parallel robot;    visual servoing;   

DOI  :  10.3390/s130809941

来源: mdpi

【 摘 要 】

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.

【 授权许可】

CC BY   
© 2013 by the authors; licensee MDPI, Basel, Switzerland.