Robot Calibration Using an Automatic Theodolite
Driels, Morris R.
Pathre, Uday S.
MetadataShow full item record
The Vision Based Automatic Theodolite (VBAT) is an automatic partial pose measurement system for robot calibration. It uses low resolution rotation stages and resolution enhancement from a vision system to determine the line-of-sight to a spherical illuminated target. Automatic tracking, focusing, and centring provide the calibration system with speed, reliability, and repeatability. A kinematic model of the VBAT is described which includes both the mechanical parts of the system and the optics, using a modified Denavit-Hartenberg approach. All parameters in the VBA T model are identified and embedded into the system controller producing an instrument of 2 arc second accuracy. The system is then used in a conventional manner to calibrate a six degree of freedom PUMA robot, and the results compared to another calibration of the same arm by a coordinate measuring machine with repeatability and accuracy of 0.02 ram. The calibration using the VBA T enhances the accuracy of the PUMA to within 0.2 mm of that produced by the CMM calibration, compared to an accuracy of 14 mm prior to calibration.
RightsThis publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.
Showing items related by title, author, creator and subject.
Calibration of a Radome-Differential GPS System on a Twin Otter Research Aircraft for Turbulence Measurements Kalogiros, John A.; Wang, Qing (AMS, 2002-02);A five-hole radome pressure probe at the nose of a small two-engine newly instrumented research aircraft was combined with global positioning system (GPS) receivers in differential mode to obtain high frequency measurements ...
Automatic web-based calibration of network-capable shipboard sensors Le, Charles Khang Duy (Monterey, California. Naval Postgraduate School, 2007-09);This thesis investigates the feasibility of developing an automatic web-based sensor calibration system with four main objectives. The first objective was to reduce the number of personnel required to calibrate shipboard ...
Trust in automated systems the effect of automation level on trust calibration Walliser, James C. (Monterey, California. Naval Postgraduate School, 2011-06);Automated systems perform functions that were previously executed by a human. When using automation, the role of the human changes from operator to supervisor. For effective operation, the human must appropriately calibrate ...