@inproceedings{0dcfe01283eb44919aac65b008f9c371,
title = "Ultrasound based industrial robot kinematic calibration method",
abstract = "The purpose of this paper is to present a kinematic calibration method for industrial robot based on ultrasound. It can be used to improve kinematic accuracy for robot used in ultrasonic nondestructive testing system. Articulated robot with six degree of freedom (DOF) is introduced in ultrasonic nondestructive testing system to test workpieces with complicated shape. Off-line teaching method is an effective way to realize complicated motion in robot application. However, absolute positioning plays an important role in such teaching method. Considering that ultrasound has ability to measure distance, we used ultrasonic transducer to calibrate kinematic parameters. Firstly, relative distance errors between actual and command distance are measured along three orthogonal orientations. Then, least square method is used to calculate errors between actual and nominal kinematic parameters. Experimental results show that this method can improve kinematic accuracy effectively. The proposed method makes it more convenient to calibrate kinematic parameters for robot used in ultrasonic nondestructive testing system.",
keywords = "Calibration, MDH model, Robot, Ultrasound",
author = "Hanming Zhang and Chunguang Xu and Dingguo Xiao and Peilu Li and Canzhi Guo",
note = "Publisher Copyright: {\textcopyright} Science Press 2020.; 7th Asia International Symposium on Mechatronics, AISM 2019 ; Conference date: 19-09-2019 Through 22-09-2019",
year = "2020",
doi = "10.1007/978-981-32-9437-0_62",
language = "English",
isbn = "9789813294363",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Verlag",
pages = "599--610",
editor = "Baoyan Duan and Kazunori Umeda and Woonbong Hwang",
booktitle = "Proceedings of the 7th Asia International Symposium on Mechatronics - Volume I",
address = "Germany",
}
