TY - GEN
T1 - A ROS-Based Kinematic Calibration Tool for Serial Robots
AU - Pascal, Caroline
AU - Doare, Olivier
AU - Chapoutot, Alexandre
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023/1/1
Y1 - 2023/1/1
N2 - The use of serial robots for industrial and research purposes is often limited by a flawed positioning accuracy, caused by the differences between the robot nominal model, and the real one. Such an issue can be solved by means of kinematic calibration, which is usually a tedious and intricate task. In this paper, we propose a complete kinematic calibration procedure relying on established geometric modeling, measurements design and parameters identification methods, as well as multiple integration tools, to provide a high adaptability and a simplified handling. The overall process was bundled up in a ROS-based modular and user-friendly package, whose main objective is to offer a smooth and fully integrated framework for the kinematic calibration of serial robots. Our solution was successfully tested using a motion tracking device, and allowed to increase the overall positioning accuracy of two different serial robots by 75% in a matter of hours.
AB - The use of serial robots for industrial and research purposes is often limited by a flawed positioning accuracy, caused by the differences between the robot nominal model, and the real one. Such an issue can be solved by means of kinematic calibration, which is usually a tedious and intricate task. In this paper, we propose a complete kinematic calibration procedure relying on established geometric modeling, measurements design and parameters identification methods, as well as multiple integration tools, to provide a high adaptability and a simplified handling. The overall process was bundled up in a ROS-based modular and user-friendly package, whose main objective is to offer a smooth and fully integrated framework for the kinematic calibration of serial robots. Our solution was successfully tested using a motion tracking device, and allowed to increase the overall positioning accuracy of two different serial robots by 75% in a matter of hours.
U2 - 10.1109/IROS55552.2023.10341692
DO - 10.1109/IROS55552.2023.10341692
M3 - Conference contribution
AN - SCOPUS:85182523525
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 1767
EP - 1773
BT - 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023
Y2 - 1 October 2023 through 5 October 2023
ER -