INVESTIGADORES
CARELLI ALBARRACIN Ricardo Oscar
congresos y reuniones científicas
Título:
A method for Kinematic Calibration of a Parallel Robot by using one camera in hand and a spherical object
Autor/es:
ALBERTO TRASLOHEROS; JOSÉ MARÍA SEBASTIÁN; EDUARDO CASTILLO-CASTANEDA; FLAVIO ROBERTI; RICARDO CARELLI
Lugar:
Tallinn
Reunión:
Conferencia; The 15th International Conference on Advanced Robotics, (ICAR 2011); 2011
Institución organizadora:
Universidad Técnica de Tallinn
Resumen:
The main purpose of robot calibration is the correction of the possible errors in the robot parameters. This paper presents a method for a kinematic calibration of a parallel robot that is equipped with one camera in hand. In order to preserve the mechanical configuration of the robot, the camera is utilized to acquire incremental positions of the end effector from a spherical object that is fixed in the word reference frame. The positions of the end effector are related to incremental positions of resolvers of the motors of the robot, and a kinematic model of the robot is used to find a new group of parameters which minimizes errors in the kinematic equations. Additionally, properties of the spherical object and intrinsic camera parameters are utilized to model the projection of the object in the image and improving spatial measurements. Finally, the robotic system is designed to carry out tracking tasks and the calibration of the robot is validated by means of integrating the errors of the visual controller.
