지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2014.12
- 수록면
- 1,267 - 1,271 (5page)
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초록· 키워드
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There have been many autonomous robot calibration methods which form closed loop structures through the various attached sensors and mechanical fixtures. Single point calibration among them has been used for on-site calibration due to its convenience of implementation. The robot can reach a single point with infinitely many configurations so that single point calibration algorithm can be set up and easily implemented relative to the other methods. However, it is not still easy to drive the robots’ sharp edge to its corresponding edge of the fixture. This is error-prone process. In this paper, we propose a 3 dimensional small displacement measuring sensor and a robot calibration algorithm based on this sensor. This method relieves the difficulty of matching two edges in the single point calibration and improves the resulting robot accuracy. Simulated study is carried out on a Hyundai HA06 robot to show the effectiveness of the proposed method over the single point calibration. And also, the resulting robot accuracy is compared with that from 3D laser tracker based calibration to show the dependency of robot accuracy on range of the workspace where the measurement data are collected.
목차
Abstract
Ⅰ. INTRODUCTION
Ⅱ. SINGLE POINT BASED ROBOT CALIBRATION METHOD
Ⅲ. A THREE DIMENSIONAL SMALL DISPLACEMENT SENSOR BASED ROBOT CALIBRATION METHOD
Ⅳ. COMPUTER SIMULATION STUDY
Ⅴ. CONCLUSION
REFERENCES
참고문헌 (14)
참고문헌 신청
1. [학술지(정기간행물)] - W. Veitschegger / 1986 / Robot accuracy analysis based on kinematics / IEEE Jour. of Robotics and Auto 2 : 171 ~ 179
2. [학술대회논문] - S. Hayati / 1988 / Robot geometry calibration / Proc. IEEE Int. Conf. on Robotics and Automation 2 : 947 ~ 951
3. [학술대회논문] - W. Khalil / 1990 / Identification and calibration of the geometric parameters of robots / The First Int. Symposium on Experimental Robotics I : 528 ~ 538
4. [학술지(정기간행물)] - R. P. Judd / 1990 / A technique to calibrate industrial robots with experimental verification / IEEE Transactions on Robotics and Automation 6 (1) : 20 ~ 30
5. [학술지(정기간행물)] - G. Duelen / 1991 / Robot calibration method and results / Robotics and Computer Integrated Manufacturing 8 : 223 ~ 231
2. [학술대회논문] - S. Hayati / 1988 / Robot geometry calibration / Proc. IEEE Int. Conf. on Robotics and Automation 2 : 947 ~ 951
3. [학술대회논문] - W. Khalil / 1990 / Identification and calibration of the geometric parameters of robots / The First Int. Symposium on Experimental Robotics I : 528 ~ 538
4. [학술지(정기간행물)] - R. P. Judd / 1990 / A technique to calibrate industrial robots with experimental verification / IEEE Transactions on Robotics and Automation 6 (1) : 20 ~ 30
5. [학술지(정기간행물)] - G. Duelen / 1991 / Robot calibration method and results / Robotics and Computer Integrated Manufacturing 8 : 223 ~ 231
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UCI(KEPA) : I410-ECN-0101-2015-560-002851854