An Inexpensive Method for Kinematic Calibration of a Parallel Robot by Using One Hand-Held Camera as Main Sensor

Autores
Traslosheros, Alberto; Sebastián, José María; Torrijós, Jesús; Carelli Albarracin, Ricardo Oscar; Castillo, Eduardo
Año de publicación
2013
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
This paper presents a novel method for the calibration of a parallel robot, which allows a more accurate configuration instead of a configuration based on nominal parameters. It is used, as the main sensor with one camera installed in the robot hand that determines the relative position of the robot with respect to a spherical object fixed in the working area of the robot. The positions of the end effector are related to the incremental positions of resolvers of the robot motors. 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 thereby improve spatial measurements. Finally, several working tests, static and tracking tests are executed in order to verify how the robotic system behaviour improves by using calibrated parameters against nominal parameters. In order to emphasize that, this proposed new method uses neither external nor expensive sensor. That is why new robots are useful in teaching and research activities.
Fil: Traslosheros, Alberto. Universidad Aeronáutica de Querétaro; México
Fil: Sebastián, José María. Universidad Politecnica de Madrid; España
Fil: Torrijós, Jesús. Universidad Politecnica de Madrid; España
Fil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Fil: Castillo, Eduardo. Instituto Politécnico Nacional; México
Materia
Kinematic calibration
Extenal sensor calibration
Parallel robot
Visual servoing
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/3929
Acceder
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network_acronym_str CONICETDig
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network_name_str CONICET Digital (CONICET)
spelling An Inexpensive Method for Kinematic Calibration of a Parallel Robot by Using One Hand-Held Camera as Main SensorTraslosheros, AlbertoSebastián, José MaríaTorrijós, JesúsCarelli Albarracin, Ricardo OscarCastillo, EduardoKinematic calibrationExtenal sensor calibrationParallel robotVisual servoinghttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2This paper presents a novel method for the calibration of a parallel robot, which allows a more accurate configuration instead of a configuration based on nominal parameters. It is used, as the main sensor with one camera installed in the robot hand that determines the relative position of the robot with respect to a spherical object fixed in the working area of the robot. The positions of the end effector are related to the incremental positions of resolvers of the robot motors. 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 thereby improve spatial measurements. Finally, several working tests, static and tracking tests are executed in order to verify how the robotic system behaviour improves by using calibrated parameters against nominal parameters. In order to emphasize that, this proposed new method uses neither external nor expensive sensor. That is why new robots are useful in teaching and research activities.Fil: Traslosheros, Alberto. Universidad Aeronáutica de Querétaro; MéxicoFil: Sebastián, José María. Universidad Politecnica de Madrid; EspañaFil: Torrijós, Jesús. Universidad Politecnica de Madrid; EspañaFil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; ArgentinaFil: Castillo, Eduardo. Instituto Politécnico Nacional; MéxicoMolecular Diversity Preservation International2013-08info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/3929Traslosheros, Alberto; Sebastián, José María; Torrijós, Jesús; Carelli Albarracin, Ricardo Oscar; Castillo, Eduardo; An Inexpensive Method for Kinematic Calibration of a Parallel Robot by Using One Hand-Held Camera as Main Sensor; Molecular Diversity Preservation International; Sensors; 13; 8; 8-2013; 9941-99651424-8220enginfo:eu-repo/semantics/altIdentifier/url/http://www.mdpi.com/1424-8220/13/8/9941info:eu-repo/semantics/altIdentifier/doi/10.3390/s130809941info:eu-repo/semantics/altIdentifier/issn/1424-8220info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-09-03T09:51:32Zoai:ri.conicet.gov.ar:11336/3929instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-09-03 09:51:32.935CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv An Inexpensive Method for Kinematic Calibration of a Parallel Robot by Using One Hand-Held Camera as Main Sensor
title An Inexpensive Method for Kinematic Calibration of a Parallel Robot by Using One Hand-Held Camera as Main Sensor
spellingShingle An Inexpensive Method for Kinematic Calibration of a Parallel Robot by Using One Hand-Held Camera as Main Sensor
Traslosheros, Alberto
Kinematic calibration
Extenal sensor calibration
Parallel robot
Visual servoing
title_short An Inexpensive Method for Kinematic Calibration of a Parallel Robot by Using One Hand-Held Camera as Main Sensor
title_full An Inexpensive Method for Kinematic Calibration of a Parallel Robot by Using One Hand-Held Camera as Main Sensor
title_fullStr An Inexpensive Method for Kinematic Calibration of a Parallel Robot by Using One Hand-Held Camera as Main Sensor
title_full_unstemmed An Inexpensive Method for Kinematic Calibration of a Parallel Robot by Using One Hand-Held Camera as Main Sensor
title_sort An Inexpensive Method for Kinematic Calibration of a Parallel Robot by Using One Hand-Held Camera as Main Sensor
dc.creator.none.fl_str_mv Traslosheros, Alberto
Sebastián, José María
Torrijós, Jesús
Carelli Albarracin, Ricardo Oscar
Castillo, Eduardo
author Traslosheros, Alberto
author_facet Traslosheros, Alberto
Sebastián, José María
Torrijós, Jesús
Carelli Albarracin, Ricardo Oscar
Castillo, Eduardo
author_role author
author2 Sebastián, José María
Torrijós, Jesús
Carelli Albarracin, Ricardo Oscar
Castillo, Eduardo
author2_role author
author
author
author
dc.subject.none.fl_str_mv Kinematic calibration
Extenal sensor calibration
Parallel robot
Visual servoing
topic Kinematic calibration
Extenal sensor calibration
Parallel robot
Visual servoing
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv This paper presents a novel method for the calibration of a parallel robot, which allows a more accurate configuration instead of a configuration based on nominal parameters. It is used, as the main sensor with one camera installed in the robot hand that determines the relative position of the robot with respect to a spherical object fixed in the working area of the robot. The positions of the end effector are related to the incremental positions of resolvers of the robot motors. 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 thereby improve spatial measurements. Finally, several working tests, static and tracking tests are executed in order to verify how the robotic system behaviour improves by using calibrated parameters against nominal parameters. In order to emphasize that, this proposed new method uses neither external nor expensive sensor. That is why new robots are useful in teaching and research activities.
Fil: Traslosheros, Alberto. Universidad Aeronáutica de Querétaro; México
Fil: Sebastián, José María. Universidad Politecnica de Madrid; España
Fil: Torrijós, Jesús. Universidad Politecnica de Madrid; España
Fil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Fil: Castillo, Eduardo. Instituto Politécnico Nacional; México
description This paper presents a novel method for the calibration of a parallel robot, which allows a more accurate configuration instead of a configuration based on nominal parameters. It is used, as the main sensor with one camera installed in the robot hand that determines the relative position of the robot with respect to a spherical object fixed in the working area of the robot. The positions of the end effector are related to the incremental positions of resolvers of the robot motors. 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 thereby improve spatial measurements. Finally, several working tests, static and tracking tests are executed in order to verify how the robotic system behaviour improves by using calibrated parameters against nominal parameters. In order to emphasize that, this proposed new method uses neither external nor expensive sensor. That is why new robots are useful in teaching and research activities.
publishDate 2013
dc.date.none.fl_str_mv 2013-08
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/3929
Traslosheros, Alberto; Sebastián, José María; Torrijós, Jesús; Carelli Albarracin, Ricardo Oscar; Castillo, Eduardo; An Inexpensive Method for Kinematic Calibration of a Parallel Robot by Using One Hand-Held Camera as Main Sensor; Molecular Diversity Preservation International; Sensors; 13; 8; 8-2013; 9941-9965
1424-8220
url http://hdl.handle.net/11336/3929
identifier_str_mv Traslosheros, Alberto; Sebastián, José María; Torrijós, Jesús; Carelli Albarracin, Ricardo Oscar; Castillo, Eduardo; An Inexpensive Method for Kinematic Calibration of a Parallel Robot by Using One Hand-Held Camera as Main Sensor; Molecular Diversity Preservation International; Sensors; 13; 8; 8-2013; 9941-9965
1424-8220
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/url/http://www.mdpi.com/1424-8220/13/8/9941
info:eu-repo/semantics/altIdentifier/doi/10.3390/s130809941
info:eu-repo/semantics/altIdentifier/issn/1424-8220
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv Molecular Diversity Preservation International
publisher.none.fl_str_mv Molecular Diversity Preservation International
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
_version_ 1842269101323452416
score 13.13397

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