Abstract
Industrial robot calibration is crucial for high- precision operations. This paper introduces a low-cost, portable calibration method using a fixture with three digital indicators and an adaptable artifact, reducing reliance on expensive tools like laser trackers and Coordinate Measuring Machines (CMMs). By integrating the least squares (LS) and Levenberg-Marquardt (LM) algorithms with the Extended Kalman Filter (EKF), the system can significantly enhance calibration accuracy and efficiency. Experimental results show that an increasing number of planes (from 4 to 7) used on the artifact can improve the calibration accuracy by 10%, and a reduction of end-effector pose measurements (from 175 to 91 poses provided by the artifact) can increase the calibration efficiency by 47.7% with a minimal accuracy loss of 2.03%. Results illustrate the effectiveness of the proposed portable system in improving the accuracy of robot kinematics, demonstrating its great potential in robot-assisted manufacturing and assembly.
| Original language | English |
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| Title of host publication | Proceedings of the 30th IEEE International Conference on Mechatronics and Machine Vision in Practice |
| Publisher | IEEE |
| ISBN (Electronic) | 9798350391916 |
| DOIs | |
| Publication status | Published - 12 Nov 2024 |
| Event | 30th International Conference on Mechatronics and Machine Vision in Practice 2024 - Leeds, United Kingdom Duration: 3 Oct 2024 → 5 Oct 2024 |
Conference
| Conference | 30th International Conference on Mechatronics and Machine Vision in Practice 2024 |
|---|---|
| Abbreviated title | M2VIP 2024 |
| Country/Territory | United Kingdom |
| City | Leeds |
| Period | 3/10/24 → 5/10/24 |
Keywords
- Kinematics
- Optimization
- Robot Calibration
- Robotic Manufacturing
ASJC Scopus subject areas
- Computer Vision and Pattern Recognition
- Electrical and Electronic Engineering
- Mechanical Engineering
- Modelling and Simulation