Kinematic calibration of industrial robots using full pose measurements and optimal pose selection

Download

index.pdf

Date

2010

Author

Yurttagül, Berk

Metadata

Show full item record

Item Usage Stats

245
views

99
downloads

This study focuses on kinematic calibration of industrial robots. Kinematic modeling, parameter identification and optimal pose selection methods are presented. A computer simulation of the kinematic calibration is performed using generated measurements with normally distributed noise. Furthermore, kinematic calibration experiments are performed on an ABB IRB 6600 industrial robot using full pose measurements taken by a laser tracking system. The kinematic model of the robot is developed using the modified Denavit - Hartenberg convention. A nonlinear least-squares method is employed during the parameter identification stage. According to the experiment results, the initial robot positioning errors are reduced by more than 80%.

Subject Keywords

Mechanical engineering., Robots, Industrial., Robots.

URI

http://etd.lib.metu.edu.tr/upload/12612829/index.pdf
https://hdl.handle.net/11511/20216

Collections

Graduate School of Natural and Applied Sciences, Thesis

Suggestions

OpenMETU
Core

Software development for man-machine interface for an industrial robot Cengiz, Mahir Cihan; Kaftanoğlu, Bilgin; Department of Mechanical Engineering (2003) In this study, a robotic software, which controls the robot, is developed. The robot considered is a six degree of freedom robot and it is designed and manufactured in METU. User can send the robot anywhere in space within its workspace, in any orientation. Forward and inverse kinamatics can be executed according to the needs. Simulation framework is embedded into the software for the 3D visualisation of the robot. Any movements can be simulated on the screen. Software also generates the path for the given ...
Kinematic model calibration of a 7-DOF capstan-driven haptic device for pose and force control accuracy improvement Baser, Ozgur; Konukseven, Erhan İlhan (SAGE Publications, 2013-01-01) The literature on kinematic calibration of industrial robots and haptic devices suggests that proper model calibration is indispensable for accurate pose estimation and precise force control. Despite the variety of studies in the literature, the effects of transmission errors on positioning accuracy or the enhancement of force control by kinematic calibration is not fully studied. In this article, an easy to implement kinematic calibration method is proposed for the systems having transmission errors. The p...
Model-based pose estimation of the tool center point of collaborative industrial robots (UR5) using a proposed fiducial marker system Majidi Balanji, Hamid; Turgut, Ali Emre; Department of Mechanical Engineering (2019) Real-time pose estimation of Tool Center Point (TCP) of industrial robots is very important in industrial robotic applications. The TCP pose information is used in many industrial robotic tasks such as calibration and control tasks for on-line TCP pose corrections and improvement of the TCP pose accuracy and repeatability. Nowadays, in industry and robotic research laboratories, laser trackers, optical CMMs, stereo vision and photogrammetry techniques are applied for TCP pose estimation purposes; however, e...
Robotic system design for reshaping estimated human intention in human-robot interactions Durdu, Akif; Erkmen, İsmet; Erkmen, Aydan Müşerref; Department of Electrical and Electronics Engineering (2012) This thesis outlines the methodology and experiments associated with the reshaping of human intention via based on the robot movements in Human-Robot Interactions (HRI). Although works on estimating human intentions are quite well known research areas in the literature, reshaping intentions through interactions is a new significant branching in the field of human-robot interaction. In this thesis, we analyze how previously estimated human intentions change based on his/her actions by cooperating with mobile...
Implementation of a closed-loop action generation system on a humanoid robot through learning by demonstration Tunaoğlu, Doruk; Şahin, Erol; Department of Computer Engineering (2010) In this thesis the action learning and generation problem on a humanoid robot is studied. Our aim is to realize action learning, generation and recognition in one system and our inspiration source is the mirror neuron hypothesis which suggests that action learning, generation and recognition share the same neural circuitry. Dynamic Movement Primitives, an efficient action learning and generation approach, are modified in order to fulfill this aim. The system we developed (1) can learn from multiple demonstr...

Citation Formats

B. Yurttagül, “Kinematic calibration of industrial robots using full pose measurements and optimal pose selection,” M.S. - Master of Science, Middle East Technical University, 2010.