Abstract
This paper presents a novel low cost strategy for the geometric calibration of industrial robots. The nominal geometric parameters of the robot are therefore enhanced by 30 calibration parameters such as length errors, axes misalignment, gear backlash and joint offsets. Additionally the elastic deflection between motor and arm positions due to finite gear stiffness is included. For the calibration procedure, a laser pointer is mounted on the end-effector of the robot pointing towards a measurement plane. This point is measured by a camera and the beam is controlled to three defined evaluation points by movements of the robot closing a kinematic loop. The procedure is repeated for 83 different optimized poses of the robot. The closed kinematic loops are used to calculate the unknown error parameters utilizing the Levenberg-Marquardt algorithm. For verification purposes, the accuracy of the EE is measured at 100 random positions. A comparison of the proposed method to a laser-tracker calibration is presented. Both methods result in a similar accuracy range.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Zhuang H, Roth ZS (1996) Camera-Aided Robot Calibration. CRC Press, Boca Raton
Siciliano B, Khatib O (eds) (2008) Handbook of Robotics. Springer, Heidelberg
Sun Y, Hollerbach JM (2008) Active robot calibration algorithm. In: Proceedings of the IEEE international conference on robotics and automation, pp 1276–1281
Nubiola A, Bonev IA (2013) Absolute calibration of an ABB IRB 1600 robot using a laser tracker. Robot Comput Integr Manuf 29:236–245
Neubauer M, Gattringer H, Bremer H (2013) Static positioning accuracy of a redundant robotic system. In: 14th international conference computer aided systems theory - EUROCAST 2013, revised selected papers. Springer, Heidelberg, pp 297–304
Khalil W, Dombre E (2004) Modeling, identification and control of robots. Kogan Page Science
Neubauer M, Gattringer H, Müller A, Steinhauser A, Höbarth W (2015) A two-stage calibration method for industrial robots with joint and drive flexibilities. Mech Sci 6:191–201
Gatla CS, Lumia R, Wood J, Starr G (2007) An automated method to calibrate industrial robots using a virtual closed kinematic chain. IEEE Trans Robot 23:1105–1116
Besnard S, Khalil W, Garcia G (2000) Geometric calibration of robots using multiple plane constraints. In: Advances in robot kinematics. Springer, Heidelberg, pp 61–70
Bernhardt R (ed) (1993) Robot Calibration. Chapman Hall, London
Acknowledgments
This work has been supported by the Austrian COMET-K2 program of the Linz Center of Mechatronics (LCM).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2018 Springer International Publishing AG
About this paper
Cite this paper
Gattringer, H., Neubauer, M., Kaserer, D., Müller, A. (2018). A Novel Method for Geometric Robot Calibration Using Laser Pointer and Cameras. In: Ferraresi, C., Quaglia, G. (eds) Advances in Service and Industrial Robotics. RAAD 2017. Mechanisms and Machine Science, vol 49. Springer, Cham. https://doi.org/10.1007/978-3-319-61276-8_23
Download citation
DOI: https://doi.org/10.1007/978-3-319-61276-8_23
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-61275-1
Online ISBN: 978-3-319-61276-8
eBook Packages: EngineeringEngineering (R0)