Calibration of manipulator using vision sensor on hand unit

摘要

A robot has its original error of link length and angular offsets. Consequently, it has low absolute positioning accuracy, although the robot has good repeatability. For this reason, calibration of the manipulator is required. This paper proposes a calibration method using information obtained through a vision sensor, which is installed on the hand. First, the robot makes a series of movements with a vision sensor. Next, the sensor projects a laser onto an object and takes an image at each position. Finally, parameters are calibrated using the error of 3D position by the Newton method.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>