Kinematic Calibration of Serial Manipulators Using Relative Measurements

Kinematic calibration is necessary to enhance the accuracy of robotic manipulators. It is typically desired to perform this task in both a cost-effective and time-efficient manner. Many techniques exist in the literature that achieve both goals. In this thesis, a novel model-based kinematic calibration method using relative measurements is developed and implemented, which has proven to be useful for optical measurements, and is capable of achieving the same level of accuracy as the typical absolute measurement methods. Furthermore, the effects of measurement noise, the number of measured poses, and the best pose configurations for kinematic calibration are investigated. Both a Thermo CRS A465 and a 7 DOF WAM Arm were used in this thesis. The results for the WAM Arm lead to a significant improvement in the end-effector pose accuracy. The implication is that the relative measurement concept is a valid tool for model-based kinematic calibration of serial manipulators.

Name thesis:degree_name

Master of Applied Science (M.App.Sc.)

Level thesis:degree_level

Master's

Discipline thesis:degree_discipline

Engineering, Mechanical

Grantor dc:publisher

Carleton University

Year dc:date.issued

2014

Author dc:creator

• Lu, Chao-Chia

Statement dc:rights

• Copyright © 2014 the author(s). Theses may be used for non-commercial research, educational, or related academic purposes only. Such uses include personal study, research, scholarship, and teaching. Theses may only be shared by linking to Carleton University Institutional Repository and no part may be used without proper attribution to the author. No part may be used for commercial purposes directly or indirectly via a for-profit platform; no adaptation or derivative works are permitted without consent from the copyright owner.

Language dc:language.iso

en

DOI

10.22215/etd/2014-10105

OAI identifier oai:identifier

oai:carleton.scholaris.ca:20.500.14718/38117