TY - GEN
T1 - A method for kinematic calibration of a parallel robot by using one camera in hand and a spherical object
AU - Traslosheros, Alberto
AU - Sebastián, José María
AU - Castillo, Eduardo
AU - Roberti, Flavio
AU - Carelli, Ricardo
PY - 2011
Y1 - 2011
N2 - The main purpose of robot calibration is the correction of the possible errors in the robot parameters. This paper presents a method for a kinematic calibration of a parallel robot that is equipped with one camera in hand. In order to preserve the mechanical configuration of the robot, the camera is utilized to acquire incremental positions of the end effector from a spherical object that is fixed in the word reference frame. The positions of the end effector are related to incremental positions of resolvers of the motors of the robot, and 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 improving spatial measurements. Finally, the robotic system is designed to carry out tracking tasks and the calibration of the robot is validated by means of integrating the errors of the visual controller.
AB - The main purpose of robot calibration is the correction of the possible errors in the robot parameters. This paper presents a method for a kinematic calibration of a parallel robot that is equipped with one camera in hand. In order to preserve the mechanical configuration of the robot, the camera is utilized to acquire incremental positions of the end effector from a spherical object that is fixed in the word reference frame. The positions of the end effector are related to incremental positions of resolvers of the motors of the robot, and 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 improving spatial measurements. Finally, the robotic system is designed to carry out tracking tasks and the calibration of the robot is validated by means of integrating the errors of the visual controller.
UR - http://www.scopus.com/inward/record.url?scp=84255178459&partnerID=8YFLogxK
U2 - 10.1109/ICAR.2011.6088594
DO - 10.1109/ICAR.2011.6088594
M3 - Contribución a la conferencia
AN - SCOPUS:84255178459
SN - 9781457711589
T3 - IEEE 15th International Conference on Advanced Robotics: New Boundaries for Robotics, ICAR 2011
SP - 75
EP - 81
BT - IEEE 15th International Conference on Advanced Robotics
T2 - IEEE 15th International Conference on Advanced Robotics: New Boundaries for Robotics, ICAR 2011
Y2 - 20 June 2011 through 23 June 2011
ER -