A new method for kinematic parameter calibration via laser line tracking

摘要

A robot kinematic calibration technique is presented. The process assumes the use of an optical detector mounted on the robot's end-effector, which is used in position feedback. By this method, calibration data can be acquired for detector positions along a straight laser beam, and the detector is precisely centered on the laser line at each sample point. By structuring the data collection process this way, post processing to deduce kinematic parameters is simplified. A goodness-of-fit metric is given which exploits the straight-line constraint of the data. This metric is well suited for use within a numerical search for best-fit kinematic parameters. Illustrations of the technique's virtues and limitations are presented. An experimental apparatus for evaluating the technique on industrial robots is described. The approach is shown to be simple, inexpensive, and feasible.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>