Absolute robot calibration with a single telescoping ballbar
作者： Albert Nubiola , Ilian A. Bonev
DOI: 10.1016/J.PRECISIONENG.2014.01.001
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摘要: A novel 6D measurement system was recently proposed, comprising a single commercially available telescoping ballbar and two custom-made fixtures. One fixture is attached to the robot base and the other to the robot end-effector, and each having three magnetic cups. In each of 72 poses of the tool fixture, with respect to the base fixture, it is possible to measure six distances with the ballbar between the magnetic cups on the tool fixture and the magnetic cups on the base fixture, and thus calculate the pose with high accuracy. This …
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