Automated robot calibration system based on a variable D-H parameter model

Kuu-Young Young; Jin Jou Chen; Chia Ching Wang

doi:10.1109/CDC.1996.574540

Automated robot calibration system based on a variable D-H parameter model

Kuu-Young Young^*, Jin Jou Chen, Chia Ching Wang

^*Corresponding author for this work

Department of Electrical and Computer Engineering

Research output: Chapter in Book/Report/Conference proceeding › Chapter › peer-review

18 Scopus citations

Abstract

Current robot calibration schemes usually employ calibration models with constant error parameters. Consequently, they are inevitably subject to a certain degree of locality, i.e., the calibrated error parameters (CEPs) will produce the desired accuracy only in certain regions of the robot workspace. This is mainly because of incomplete modeling of errors, resulting in imprecision, and because only a limited amount of measured data are available for identifying CEPs. To deal with the locality phenomenon, CEPs that vary in different regions of the robot workspace may be more appropriate. Hence, we propose a variable D-H (Denavit and Hartenberg [2]) parameter model to formulate variations of CEPs. Simulations and experiments that verify the effectiveness of the proposed calibration system are described.

Original language	English
Title of host publication	Proceedings of the IEEE Conference on Decision and Control
Editors	Anon
Pages	881-886
Number of pages	6
DOIs	https://doi.org/10.1109/CDC.1996.574540
State	Published - 13 Dec 1996
Event	Proceedings of the 1996 35th IEEE Conference on Decision and Control. Part 3 (of 4) - Kobe, Jpn Duration: 11 Dec 1996 → 13 Dec 1996

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
Volume	1
ISSN (Print)	0191-2216

Conference

Conference	Proceedings of the 1996 35th IEEE Conference on Decision and Control. Part 3 (of 4)
City	Kobe, Jpn
Period	11/12/96 → 13/12/96

Access to Document

10.1109/CDC.1996.574540

Cite this

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title = "Automated robot calibration system based on a variable D-H parameter model",

abstract = "Current robot calibration schemes usually employ calibration models with constant error parameters. Consequently, they are inevitably subject to a certain degree of locality, i.e., the calibrated error parameters (CEPs) will produce the desired accuracy only in certain regions of the robot workspace. This is mainly because of incomplete modeling of errors, resulting in imprecision, and because only a limited amount of measured data are available for identifying CEPs. To deal with the locality phenomenon, CEPs that vary in different regions of the robot workspace may be more appropriate. Hence, we propose a variable D-H (Denavit and Hartenberg [2]) parameter model to formulate variations of CEPs. Simulations and experiments that verify the effectiveness of the proposed calibration system are described.",

author = "Kuu-Young Young and Chen, {Jin Jou} and Wang, {Chia Ching}",

year = "1996",

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note = "Proceedings of the 1996 35th IEEE Conference on Decision and Control. Part 3 (of 4) ; Conference date: 11-12-1996 Through 13-12-1996",

}

Young, K-Y, Chen, JJ & Wang, CC 1996, Automated robot calibration system based on a variable D-H parameter model. in Anon (ed.), Proceedings of the IEEE Conference on Decision and Control., 574540, Proceedings of the IEEE Conference on Decision and Control, vol. 1, pp. 881-886, Proceedings of the 1996 35th IEEE Conference on Decision and Control. Part 3 (of 4), Kobe, Jpn, 11/12/96. https://doi.org/10.1109/CDC.1996.574540

Automated robot calibration system based on a variable D-H parameter model. / Young, Kuu-Young; Chen, Jin Jou; Wang, Chia Ching.
Proceedings of the IEEE Conference on Decision and Control. ed. / Anon. 1996. p. 881-886 574540 (Proceedings of the IEEE Conference on Decision and Control; Vol. 1).

Research output: Chapter in Book/Report/Conference proceeding › Chapter › peer-review

TY - CHAP

T1 - Automated robot calibration system based on a variable D-H parameter model

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N2 - Current robot calibration schemes usually employ calibration models with constant error parameters. Consequently, they are inevitably subject to a certain degree of locality, i.e., the calibrated error parameters (CEPs) will produce the desired accuracy only in certain regions of the robot workspace. This is mainly because of incomplete modeling of errors, resulting in imprecision, and because only a limited amount of measured data are available for identifying CEPs. To deal with the locality phenomenon, CEPs that vary in different regions of the robot workspace may be more appropriate. Hence, we propose a variable D-H (Denavit and Hartenberg [2]) parameter model to formulate variations of CEPs. Simulations and experiments that verify the effectiveness of the proposed calibration system are described.

AB - Current robot calibration schemes usually employ calibration models with constant error parameters. Consequently, they are inevitably subject to a certain degree of locality, i.e., the calibrated error parameters (CEPs) will produce the desired accuracy only in certain regions of the robot workspace. This is mainly because of incomplete modeling of errors, resulting in imprecision, and because only a limited amount of measured data are available for identifying CEPs. To deal with the locality phenomenon, CEPs that vary in different regions of the robot workspace may be more appropriate. Hence, we propose a variable D-H (Denavit and Hartenberg [2]) parameter model to formulate variations of CEPs. Simulations and experiments that verify the effectiveness of the proposed calibration system are described.

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T2 - Proceedings of the 1996 35th IEEE Conference on Decision and Control. Part 3 (of 4)

Y2 - 11 December 1996 through 13 December 1996

ER -

Automated robot calibration system based on a variable D-H parameter model

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