Abstract
This paper examines the factors to be considered for the identification of kinematic parameters during robot calibration. A generalised calibration experiment has been simulated using two different identification techniques. Details of the identitication techniques and considerations for implementing them using standard IMSL routines are presented. The factors considered during the simulations include initial estimates of parameters, effect of measurement noise, number of pose measurements, and accuracy of the measurement system used. Results are tabulated for the various cases and suggestions are made towards the efficient planning and execution of robot-calibration experiments.
Similar content being viewed by others
References
J. Chen and L. M. Chao, “Positioning error analysis for robot manipulator with all rotary joints,”Proceedings of the 1986 IEEE International Conference on Robotics and Automation, pp. 1011–1016, April 1986.
S. A. Hayati, “Robot arm geometric link parameter estimation,”IEEE Control System Society, Decision and Control, 22nd Conference, San Antonio, Texas,3, pp. 1477–1483, 14–16 December 1983.
D. E. Whitney, C. A. Lozinsky and J. M. Rourke, “Industrial robot forward calibration method and results,”Journal of Dynamic Systems, Measurement, and Control,108, pp. 1–8, March 1986.
J. F. Jarvis, “Microsurveying: towards robot accuracy,”Proceedings of the IEEE International Conference on Robotics and Automation, pp. 1660–1665, 1987.
J. Denavit and R. S. Hartenberg, “A kinematic notation for lower-pair mechanisms based on matrices”,ASME Journal of Applied Mechanics,77, pp. 215–221, June 1955.
R. P. Paul,Robot Manipulators: Mathematics, Programming, and Control, The MIT Press, Cambridge, MA, 1982.
M. Driels and U. Pathre, “A generalized joint model for robot manipulator kinematic calibration and compensation,”Journal of Robotic Systems,4(1), pp. 77–114, 1987.
B. W. Mooring, “The effect on joint axis misaignment of robot positioning accuracy”,ASME Proceedings of the 1983 International Computers in Engineering conference and Exhibit, Chicago, Illinois, vol. 2, pp. 151–155, 1983.
C. Wu., “The kinematic error model for the design of robot manipulators,”Proceedings of the American Control Conference, San Francisco, California, pp. 497–502, 1983.
M. Driels, B. W. Mooring, L. J. Everett and Z. S. Roth, “Fundamentals of robot calibration”. lecture notes for the tutorial on robot calibration, 1988 IEEE International Conference on Robotics and Automation, 25 April 1988.
H. P. Schwefel,Numerical Optimization of Computer Models, Wiley, New York, 1981.
F. S. Acton,Numerical Methods that Work, Harper and Row, New York, 1970.
L. J. Everett and T. Hsu, “The theory of kinematic parameter identification for industrial robots”,Transactions of the ASME,110, pp. 96–100, March 1988.
User's Manual, MATHILIB, FORTRAN Subroutines for Mathematical Applications, Version 1.0, IMSL Inc., April 1987.
User's Manual, STATILIB FORTRAN Subroutines for Statistical Analysis, Version 1.0., IMSL Inc., April 1987.
Author information
Authors and Affiliations
Rights and permissions
About this article
Cite this article
Pathre, U.S., Driels, M.R. Simulation experiments in parameter identification for robot calibration. Int J Adv Manuf Technol 5, 13–33 (1990). https://doi.org/10.1007/BF02601776
Accepted:
Issue Date:
DOI: https://doi.org/10.1007/BF02601776