Details
| Original language | English |
|---|---|
| Title of host publication | Springer Tracts in Advanced Robotics |
| Publisher | Springer Verlag |
| Pages | 93-106 |
| Number of pages | 14 |
| Volume | 67 |
| Publication status | Published - 2011 |
| Externally published | Yes |
Publication series
| Name | Springer Tracts in Advanced Robotics |
|---|---|
| Volume | 67 |
| ISSN (Print) | 1610-7438 |
| ISSN (electronic) | 1610-742X |
Abstract
Kinematic calibration has been shown to be an efficient method to improve the absolute accuracy of industrial robots. Originally developed for serial manipulators a number of methods have been adopted to the class of parallel robots. The most common calibration techniques rely on external measurement systems, which are expensive, time consuming and require highly skilled operators. Newest developments focus on autonomous self-calibration techniques which allow for easy calibration if required, without particular knowledge about robot calibration. Some promising approaches exist, especially for parallel robots. This paper classifies the different robot calibration schemes, presents some innovative calibration ideas and compares them to existing strategies. Prospects as well as problems of the solutions are discussed.
ASJC Scopus subject areas
- Engineering(all)
- Electrical and Electronic Engineering
- Computer Science(all)
- Artificial Intelligence
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Springer Tracts in Advanced Robotics. Vol. 67 Springer Verlag, 2011. p. 93-106 (Springer Tracts in Advanced Robotics; Vol. 67).
Research output: Chapter in book/report/conference proceeding › Contribution to book/anthology › Research › peer review
}
TY - CHAP
T1 - Calibration of parallel kinematic structures
T2 - Overview, classification and comparison
AU - Last, Philipp
AU - Raatz, Annika
AU - Hesselbach, Jürgen
N1 - Funding information:. The research work reported here was supported by the German Research Foundation (DFG) within the scope of the Collaborative Research Center SFB 562.
PY - 2011
Y1 - 2011
N2 - Kinematic calibration has been shown to be an efficient method to improve the absolute accuracy of industrial robots. Originally developed for serial manipulators a number of methods have been adopted to the class of parallel robots. The most common calibration techniques rely on external measurement systems, which are expensive, time consuming and require highly skilled operators. Newest developments focus on autonomous self-calibration techniques which allow for easy calibration if required, without particular knowledge about robot calibration. Some promising approaches exist, especially for parallel robots. This paper classifies the different robot calibration schemes, presents some innovative calibration ideas and compares them to existing strategies. Prospects as well as problems of the solutions are discussed.
AB - Kinematic calibration has been shown to be an efficient method to improve the absolute accuracy of industrial robots. Originally developed for serial manipulators a number of methods have been adopted to the class of parallel robots. The most common calibration techniques rely on external measurement systems, which are expensive, time consuming and require highly skilled operators. Newest developments focus on autonomous self-calibration techniques which allow for easy calibration if required, without particular knowledge about robot calibration. Some promising approaches exist, especially for parallel robots. This paper classifies the different robot calibration schemes, presents some innovative calibration ideas and compares them to existing strategies. Prospects as well as problems of the solutions are discussed.
UR - http://www.scopus.com/inward/record.url?scp=85030770522&partnerID=8YFLogxK
U2 - 10.1007/978-3-642-16785-0_6
DO - 10.1007/978-3-642-16785-0_6
M3 - Contribution to book/anthology
AN - SCOPUS:85030770522
VL - 67
T3 - Springer Tracts in Advanced Robotics
SP - 93
EP - 106
BT - Springer Tracts in Advanced Robotics
PB - Springer Verlag
ER -