A NEW FULL POSE MEASUREMENT METHOD FOR ROBOT CALIBRATION

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Published Dec 16, 2021
https://doi.org/10.17605/OSF.IO/WBMCX
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Vol. 6 No. NCTSRD (2021): “TECHNOLOGY FOR SUSTAINABLE RURAL DEVELOPMENT” NCTSRD 2021

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Shailesh Verma
Research Scholar, Mechanical Engineering Department, Kalinga University, Raipur CG, India
D. D. Mishra
Research Scholar, Mechanical Engineering Department, Kalinga University, Raipur, CG, India
Mukesh Kumar Verma
Mechanical Engineering Department, Pietech, Raipur CG, India

Abstract

Accurate full pose measurements (position and orientation) of robot end-effectors in Cartesian space
are frequently required for identifying robot kinematic errors during the calibration process. This paper proposes
a new method for measuring the full pose of robot end-effectors for calibration. The features of a set of target
points (placed on a rotating end-effector) on a circular trajectory are analysed in this method. The Puma robot's
computational simulation results validate the precise measurement. Furthermore, experimental calibration and
validation results for the Hyundai HA-06 robot demonstrate the proposed method's effectiveness, correctness,
and reliability. This method can be applied to robots that have entirely revolute joints or to robots for which only
the last joint is revolute.

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This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

How to Cite
[1]
Shailesh Verma, D. D. Mishra, and Mukesh Kumar Verma, “A NEW FULL POSE MEASUREMENT METHOD FOR ROBOT CALIBRATION”, IEJRD - International Multidisciplinary Journal, vol. 6, no. NCTSRD, p. 5, Dec. 2021.
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