Abstract
This paper presents a new and effective multisensor based control strategy for high-accuracy/precision and high-efficiency automatic robot localization and calibration. The strategy combines both coarsely visual servo and fine position-sensitive detector (PSD) servo control methods. In a large field of view, an image-based visual servo control system is developed to roughly guide the laser beam, which is from a single laser pointer mounted at the end-effector of robot, to project to the high-resolution segmented PSDs. Once the laser spot is projected onto the active area of PSD, the control will be switched to the high-resolution PSD feedback and servoing for fine positioning. The experimental results conducted on an ABB industrial robot IRB1600 verify the effectiveness of the developed visual/PSD hybrid servo controllers as well as demonstrate that the high accuracy 30 mum of robot localization can be approached. The development of the hybrid control system and method will be a major step for achieving high-performance automatic robot calibration.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
