A New Calibration Method for Robot Visual Measurement System without Handeye Calibration Procedure

DOI

10.2991/cmfe-15.2015.185How to use a DOI?

Keywords

robot visual measurement system; hand eye calibration; quantum behaved particle swarm optimization

Abstract

The relationship between the robot and visual measurement system (VMS) fixed on it is a critical part of the robot visual measurement system (RVMS). This paper presents a method to calibrate the robot and the VMS fixed on it without the traditional hand-eye calibration procedure. In the paper, the last robot link and the VMS are seen as a whole. The Z axis of VMS is seen as the Z axis of the robot last link frame. The kinematical model of the RVMS is created. According to the constraint that the world frame and the robot base frame are constant relatively, the objective functions are obtained, and the quantum behaved particle swarm optimization (QPSO) algorithm is used to calculate the unknown parameters. The results show that the precision of the calibrated system is 0.2mm and is satisfied for large-scale workpiece measurement.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Yali Wang
AU  - Yun Hao
AU  - Xihong Ye
AU  - Yu Lu
PY  - 2015/07
DA  - 2015/07
TI  - A New Calibration Method for Robot Visual Measurement System without Handeye Calibration Procedure
BT  - Proceedings of the International Conference on Chemical, Material and Food Engineering
PB  - Atlantis Press
SP  - 788
EP  - 792
SN  - 2352-5401
UR  - https://doi.org/10.2991/cmfe-15.2015.185
DO  - 10.2991/cmfe-15.2015.185
ID  - Wang2015/07
ER  -