NDLI: Calibration of two cooperative manipulators via pseudo-closed-loop method

Content Provider	IEEE Xplore Digital Library
Author	Yalou Huang Ming Li Wei Lu Guizhang Lu
Copyright Year	1996
Description	Author affiliation: Robotics Res. Lab., Nankai Univ., Tianjin, China (Yalou Huang)
Abstract	Calibration of two or more cooperative robots is a basic issue and very important for coordination control. Considering fast, low-cost and even autonomous calibration, the closed-loop calibration method for a single robot is extended to two cooperative robots for establishing the relation between robot base coordinates. For collecting physical date the closed-chain formed by two robot arms must be driven to different points in the space. This is impossible, however, when the relation between base coordinates of the two robot arms have not yet been established. To overcome this difficulty, at every selected point the two robot arms perform an accurate peg-in-hole assembly with the use of a contact force control technique for a single robot system. A rigid peg with a shaft key and a rigid hole with a keyway are grasped tightly by two robots respectively, the clearance between the peg and the hole is very small. So the closed-chain formed after any one peg-in-hole assembly at any point in the space holds the same. In this sense, this method is called the pseudo-closed-loop method. Two identification algorithms are developed, one takes for granted that the closed-chain is very rigid while another takes into account the deformation of the object connecting the endpoints of the two robots. Experiments are conducted with two PUMA industrial robots. Experimental results validate the proposed method.
Starting Page	1465
Ending Page	1470
File Size	493680
Page Count	6
File Format	PDF
ISBN	0780332806
ISSN	1062922X
DOI	10.1109/ICSMC.1996.571353
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1996-10-14
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Calibration Robot kinematics Orbital robotics Manipulators Robotic assembly Robot sensing systems Service robots Assembly systems Force control Shafts
Content Type	Text
Resource Type	Article

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