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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Zhuang, Hanqi Shiu, Yiu Cheung |
| Copyright Year | 1992 |
| Description | Author affiliation: Robotics Center and Department of Electrical Engineering, Florida Atlantic University, Boca Raton, FL 33431 (Zhuang, Hanqi) || Department of Electrical Engineering, Wright State University, Dayton, OH 45435 (Shiu, Yiu Cheung) |
| Abstract | An iterative algorithm for calibration of wrist-mounted robotic sensors is presented. The sensor-wrist calibration can be performed by solving a system of homogeneous transformation equations of the form AiX = XBi, where X is the unknown sensor position relative to the robot wrist, Ai is the ith robot motion, and Bi is the ith sensor motion [1-4]. Unlike existing approaches, the algorithm presented here solves kinematic parameters of X in one stage, thus eliminating error propagations and improving noise sensitivities. Moreover, with the iterative algorithm, the parameters of X are observable even when the rotation part of Bi is unknown. This is important in practice since position is easier to measure than orientation. Comparative simulation studies show that the accuracy performance of the iterative algorithm is, in general, better than that of noniterative two-stage algorithms, regardless whether the orientation part of Bi is used. The approach presented in this paper also has wide applications for wrist-mounted tool calibration. |
| Starting Page | 2479 |
| Ending Page | 2483 |
| File Size | 426850 |
| Page Count | 5 |
| File Format | |
| ISBN | 0780302109 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 1992-06-24 |
| Publisher Place | USA |
| Access Restriction | Subscribed |
| Rights Holder | American Automatic Control Council(AACC) |
| Subject Keyword | Iterative algorithms Robot sensing systems Calibration Position measurement Robot kinematics Wrist Robotics and automation Nonlinear equations Sensor systems Robot motion |
| Content Type | Text |
| Resource Type | Article |
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