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Sit-to-stand-and-walk from 120% Knee Height: A Novel Approach to Assess Dynamic Postural Control Independent of Lead-limb

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A new full pose measurement method for robot calibration.

Hoai-Nhan Nguyen¹, Jian Zhou, Hee-Jun Kang

¹Graduate School of Electrical Engineering, University of Ulsan, Namgu, Ulsan City 680-749, Korea. nhan.nguyenhoai@yahoo.com

Sensors (Basel, Switzerland)

|July 19, 2013

Summary

This study introduces a novel method for robot calibration using circular trajectory analysis of end-effector target points. This approach enables accurate full pose measurement, crucial for identifying kinematic errors in robotic systems.

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Area of Science:

Robotics
Mechanical Engineering
Calibration Techniques

Background:

Accurate robot calibration relies on precise end-effector pose measurement in Cartesian space.
Existing methods may lack the required accuracy for identifying subtle kinematic errors.

Purpose of the Study:

To propose and validate a new method for full pose measurement of robot end-effectors.
To enhance the accuracy and reliability of robot calibration processes.

Main Methods:

Analysis of target points on a circular trajectory of a rotating end-effector.
Computational simulation using the Puma robot for validation.
Experimental calibration and validation on the Hyundai HA-06 robot.

Main Results:

The proposed method achieves accurate full pose measurement of robot end-effectors.
Computational simulations confirmed the method's accuracy.
Experimental results demonstrated the method's effectiveness, correctness, and reliability.

Conclusions:

The new method provides a reliable approach for robot end-effector full pose measurement.
This technique is applicable to robots with all revolute joints or only the last revolute joint.
The method significantly improves robot kinematic error identification during calibration.