Estimation of robot parameters using optical sensors

Alexander Korzun; Evgeni Kukareko; Anatoly Pashkevich

doi:10.1117/12.150211

6 August 1993 Estimation of robot parameters using optical sensors

Alexander Korzun, Evgeni Kukareko, Anatoly Pashkevich

Proceedings Volume 2056, Intelligent Robots and Computer Vision XII: Active Vision and 3D Methods; (1993) https://doi.org/10.1117/12.150211
Event: Optical Tools for Manufacturing and Advanced Automation, 1993, Boston, MA, United States

Abstract

The paper is devoted to robot accuracy improvement via calibration and contains correspondent algorithms, hard- and software description. The experimental part of this work has been performed with PUMA robots. The hardware includes a sensor unit mounted on the robot arm consisting of a CCD camera and four optical proximity sensors. The proposed algorithm is based on an integral estimate of straight path distortions and minimization of them by altering the parameters of the robot model.

Citation Download Citation

Alexander Korzun, Evgeni Kukareko, and Anatoly Pashkevich "Estimation of robot parameters using optical sensors", Proc. SPIE 2056, Intelligent Robots and Computer Vision XII: Active Vision and 3D Methods, (6 August 1993); https://doi.org/10.1117/12.150211

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