Journal
INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION
Volume 39, Issue 2, Pages 146-153Publisher
EMERALD GROUP PUBLISHING LTD
DOI: 10.1108/01439911211201609
Keywords
Robotics; Calibration; Screw.axis identification; Robot calibration; Product of exponentials (POE) model; Twist; Hand-eye vision
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Funding
- National Nature Science Foundation of China [60804034]
- Nature Science Foundation of Shandong Province [ZR2009GQ006]
- Project of Science and Technology of Qingdao Economic and Technological Development Area [2009-2-39]
- SDUST [2010KYTD1010, 2010KYJQ105]
- Project of Shandong Province Higher Educational Science and Technology Program [J11LG53]
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Purpose - The purpose of this paper is to propose a screw axis identification (SAI) method based on the product of exponentials (POE) model, which is concerned with calibrating a serial robot with m joints equipped with a stereo-camera vision system. Design/methodology/approach - Different from conventional approaches, like the circle point analysis (CPA) or the system theoretic method which must collect a great deal of data, the identification of the joint parameters for the proposed method only needs to measure m + 1 times for n (n >= 3) target points mounted on the manipulator end-effector. Findings - In this approach, the joint parameter, called a screw or twist, together with the actual value of joint angle can be obtained by linearly solving a closed-form expression. Further, this method avoids calibrating the hand-eye relationship and the exterior parameter of the robot. Originality/value - Finally, the stability and accuracy of the SAI method are evaluated by simulation experiments, and it is also verified well in practical experiments.
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