Automated robot calibration system based on a variable D-H parameter model

Kuu-Young Young*, Jin Jou Chen, Chia Ching Wang

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingChapter

13 Scopus citations

Abstract

Current robot calibration schemes usually employ calibration models with constant error parameters. Consequently, they are inevitably subject to a certain degree of locality, i.e., the calibrated error parameters (CEPs) will produce the desired accuracy only in certain regions of the robot workspace. This is mainly because of incomplete modeling of errors, resulting in imprecision, and because only a limited amount of measured data are available for identifying CEPs. To deal with the locality phenomenon, CEPs that vary in different regions of the robot workspace may be more appropriate. Hence, we propose a variable D-H (Denavit and Hartenberg [2]) parameter model to formulate variations of CEPs. Simulations and experiments that verify the effectiveness of the proposed calibration system are described.

Original languageEnglish
Title of host publicationProceedings of the IEEE Conference on Decision and Control
Editors Anon
StatePublished - 1 Dec 1996
EventProceedings of the 1996 35th IEEE Conference on Decision and Control. Part 3 (of 4) - Kobe, Jpn
Duration: 11 Dec 199613 Dec 1996

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume1
ISSN (Print)0191-2216

Conference

ConferenceProceedings of the 1996 35th IEEE Conference on Decision and Control. Part 3 (of 4)
CityKobe, Jpn
Period11/12/9613/12/96

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  • Cite this

    Young, K-Y., Chen, J. J., & Wang, C. C. (1996). Automated robot calibration system based on a variable D-H parameter model. In Anon (Ed.), Proceedings of the IEEE Conference on Decision and Control (Proceedings of the IEEE Conference on Decision and Control; Vol. 1).