{"title":"机器人标定与补偿","authors":"W. K. Veitschegger, Chi-haur Wu","doi":"10.1109/56.9302","DOIUrl":null,"url":null,"abstract":"A method is presented for calibrating and compensating for the kinematic errors in robot manipulators. A method of selecting a set of independent kinematic errors for modeling any geometric errors in a manipulator's structure is developed. A calibration algorithm is presented for finding the values of these kinematic errors by measuring the end-effector position. These kinematic errors are experimentally determined for a PUMA 560 six-joint manipulator. Two general-purpose compensation algorithms are developed and the improvement in the Cartesian position of the end-effector is experimentally measured and these results are presented. The results show that the positioning accuracy of a robot manipulator can be substantially improved using a relatively simple technique for measuring the Cartesian position of a tool attached to the end of the manipulator. >","PeriodicalId":370047,"journal":{"name":"IEEE J. Robotics Autom.","volume":"29 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1988-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"143","resultStr":"{\"title\":\"Robot calibration and compensation\",\"authors\":\"W. K. Veitschegger, Chi-haur Wu\",\"doi\":\"10.1109/56.9302\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"A method is presented for calibrating and compensating for the kinematic errors in robot manipulators. A method of selecting a set of independent kinematic errors for modeling any geometric errors in a manipulator's structure is developed. A calibration algorithm is presented for finding the values of these kinematic errors by measuring the end-effector position. These kinematic errors are experimentally determined for a PUMA 560 six-joint manipulator. Two general-purpose compensation algorithms are developed and the improvement in the Cartesian position of the end-effector is experimentally measured and these results are presented. The results show that the positioning accuracy of a robot manipulator can be substantially improved using a relatively simple technique for measuring the Cartesian position of a tool attached to the end of the manipulator. >\",\"PeriodicalId\":370047,\"journal\":{\"name\":\"IEEE J. Robotics Autom.\",\"volume\":\"29 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1988-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"143\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"IEEE J. Robotics Autom.\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/56.9302\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE J. Robotics Autom.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/56.9302","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
A method is presented for calibrating and compensating for the kinematic errors in robot manipulators. A method of selecting a set of independent kinematic errors for modeling any geometric errors in a manipulator's structure is developed. A calibration algorithm is presented for finding the values of these kinematic errors by measuring the end-effector position. These kinematic errors are experimentally determined for a PUMA 560 six-joint manipulator. Two general-purpose compensation algorithms are developed and the improvement in the Cartesian position of the end-effector is experimentally measured and these results are presented. The results show that the positioning accuracy of a robot manipulator can be substantially improved using a relatively simple technique for measuring the Cartesian position of a tool attached to the end of the manipulator. >
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