Robot Calibration for Cooperative Process under Typical Installation.

Saved in:

Bibliographic Details
Title:	Robot Calibration for Cooperative Process under Typical Installation.
Authors:	Yahui Gan^1,2 ganyahui@yeah.net, Xianzhong Dai^1,2, Donghui Dong^1,2
Source:	Journal of Applied Mathematics. 2014, p1-12. 12p.
Subjects:	Cooperative processing, Problem solving, Matrices (Mathematics), Industrial robots, Numerical calculations
Abstract:	A method with easy operation procedure and simple calibration condition is presented in this paper to solve the base frame calibration problem for cooperative robots. It is carried out through constructing a series of handclasp configurations and recording coordinates of the contact points, respectively, in base frame of each robot. Then the rotationmatrix and translationmatrix between base frame of cooperative robots can be calculated which is just the calibration result for cooperative robots. Based on typical installation mode for industrial robot, the floor mounted, wall mounted and ceiling mounted, constraints between base frames of these robots are further explored. These constraints are used to improve the calibration results for base frame calibration problem. In order to validate the correctness and effectiveness of our method, experiments on two industrial robots (Motoman VA1400 and HP20) are carried out at the end of the paper. Thecalibration errors are less than 8mminmost cases, which satisfies the requirement of positioning accuracy for most industrial process, such as arc welding, transporting, and cutting. These experiment results assert the correctness of our method which can be used effectively to solve the base frame calibration problem for cooperative robots in manufacturing process. [ABSTRACT FROM AUTHOR]
	Copyright of Journal of Applied Mathematics is the property of Wiley-Blackwell and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
Database:	Engineering Source

Description
Abstract:	A method with easy operation procedure and simple calibration condition is presented in this paper to solve the base frame calibration problem for cooperative robots. It is carried out through constructing a series of handclasp configurations and recording coordinates of the contact points, respectively, in base frame of each robot. Then the rotationmatrix and translationmatrix between base frame of cooperative robots can be calculated which is just the calibration result for cooperative robots. Based on typical installation mode for industrial robot, the floor mounted, wall mounted and ceiling mounted, constraints between base frames of these robots are further explored. These constraints are used to improve the calibration results for base frame calibration problem. In order to validate the correctness and effectiveness of our method, experiments on two industrial robots (Motoman VA1400 and HP20) are carried out at the end of the paper. Thecalibration errors are less than 8mminmost cases, which satisfies the requirement of positioning accuracy for most industrial process, such as arc welding, transporting, and cutting. These experiment results assert the correctness of our method which can be used effectively to solve the base frame calibration problem for cooperative robots in manufacturing process. [ABSTRACT FROM AUTHOR]
ISSN:	1110757X
DOI:	10.1155/2014/576420