A NOVEL CLOSED-LOOP CALIBRATION OF A 5-DOF ROBOT MANIPULATOR

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MOGHADDAM M.M.; TAFTI M.R.; SHAHRIARI SH.; HOSSEINI S.R.

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Journal Paper

Paper Information

Journal: Modares Mechanical Engineering Year:2012 | Volume:12 | Issue:1 Page(s): 98-105

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Information Journal Paper

Title

A NOVEL CLOSED-LOOP CALIBRATION OF A 5-DOF ROBOT MANIPULATOR

Author(s)

MOGHADDAM M.M. | TAFTI M.R. | SHAHRIARI SH. | HOSSEINI S.R. | Issue Writer Certificate

Keywords

CALIBRATIONQ2

CLOSED-LOOP KINEMATICSQ2

INDUSTRIAL ROBOTQ3

Abstract

This paper presents the closed-form CALIBRATION procedure of a 5-Dof Mitsubishi robot. In this method only the joint angle information is required. But due to the limitation of the robot degrees of freedom it is not possible to attach the end-effector of the robot directly to the ground; however, we can use a bar with two ball end joints for this purpose. By doing this, the robot can move freely in space. The most limiting factor of the closed-loop CALIBRATION of robot is that we cannot measure the non-moving joints, and we have to use other joint to estimate the motion of these joints. A novel approach to estimate the non-moving degrees of freedom are presented in the paper that can be extended to other robots. Experimental results validate the proposed method and the deviation of the joint parameters compared with the nominal values of the robot parameters delivered in the catalogue is very limited and are in an acceptable ranges.

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APA: Copy

MOGHADDAM, M.M., TAFTI, M.R., SHAHRIARI, SH., & HOSSEINI, S.R.. (2012). A NOVEL CLOSED-LOOP CALIBRATION OF A 5-DOF ROBOT MANIPULATOR. MODARES MECHANICAL ENGINEERING, 12(1), 98-105. SID. https://sid.ir/paper/179560/en

Vancouver: Copy

MOGHADDAM M.M., TAFTI M.R., SHAHRIARI SH., HOSSEINI S.R.. A NOVEL CLOSED-LOOP CALIBRATION OF A 5-DOF ROBOT MANIPULATOR. MODARES MECHANICAL ENGINEERING[Internet]. 2012;12(1):98-105. Available from: https://sid.ir/paper/179560/en

IEEE: Copy

M.M. MOGHADDAM, M.R. TAFTI, SH. SHAHRIARI, and S.R. HOSSEINI, “A NOVEL CLOSED-LOOP CALIBRATION OF A 5-DOF ROBOT MANIPULATOR,” MODARES MECHANICAL ENGINEERING, vol. 12, no. 1, pp. 98–105, 2012, [Online]. Available: https://sid.ir/paper/179560/en

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