Full pose and partial pose calibration of a six degree of freedom robot manipulator arm. PDF
Preview Full pose and partial pose calibration of a six degree of freedom robot manipulator arm.
NAVAL POSTGRADUATE SCHOOL Monterey, California THESIS FULL POSE AND PARTIAL POSE CALIBRATION OF A SIX DEGREE OF FREEDOM ROBOT MANIPULATOR ARM by Scott A. Potter September 1991 Thesis Advisor: Morris R. Driels Approved for public release; distribution is unlimited. Unclassified SECURITY CLASSIFICATION OFTHIS PAGE REPORT DOCUMENTATION PAGE la. REPORTSECURITY CLASSIFICATION lb. RESTRICTIVE MARKINGS Unclassified 2a. SECURITY' CLASSIFICATION AUTHORITY DISTRIBUTION AVAILABILITY Or RLPORI Approved for public release; distribution is unlimited. DECLASSIFICATION/DOWNGRADING SCHEDULE 2b. 4. PERFORMING ORGANIZATION REPORT NUMBER(S) 5. MONITORING ORGANIZATION REPORT NUMBER(S) 6a. NAME OF PERFORMING ORGANIZATION 6b. OFFICESYMBOL 7a. NAME OF MONITORING ORGANIZATION Naval Postgraduate School (IfApplicable) Naval PostgraduateSchool 34 6c ADDRESS(city, state, andZIPcode) 7b" ADDRESS(city, state, andZIPcode) Monterey, CA 93943-5000 Monterey, CA93943-5000 8a. NAMEOFFUNDING/SPONSORING 6b. OFFICESYMBOL PROCUREMENT INSTRUMENT IDENTIFICATION NUMBER ORGANIZATION (//Applicable) 8c. ADDRESS(city, stale, andZIPcode) 10. SOURCEOF FUNDING NUMBERS PROGRAM PROJECT TASK. WORK UNIT ELEMENT NO. NO. NO ACCESSION NO. IT TITLE (Include Security Classification) FULL POSE AND PARTIAL POSE CALIBRATION OF A SLX DEGREE OF FREEDOM ROBOT MANIPULATOR ARM PERSONALAUTHORS) 12. Potter, Scott Alton 13a. TYPEOFREPORT 13b. TIME COVERED 14. DATE OF REPORI (year, month,day) 15. PAGE COUNT Master'sThesis FROM 1/91 TO 9/91 September 1991 131 SUPPLEMENTARY NOTATION 16. The views expressed in this thesis are thoseofthe author and do not reflect the official policy or position ofthe Department of Defense orthe U.S. Government. 17. COSATI CODES 18. SUBJECTTERMS(continue on reverse ifnecessary andidentify by blocknumber) FIELD GROUP SUBGROUP Robot Manipulator Calibration 19. ABSTRACT(Continue on reverse ifnecessary andidentify byblocknumber) Asixdegreeoffreedom robot manipulatorarm, a PUMA 560, is calibrated using full pose and partial pose methods in ordertoimprovethe accuracyofthe manipulator arm. The theory applicable to modeling of mechanisms is introduced. A thirty parameter kinematic model is developed for use in the full pose calibration method and a twenty-six parameter kinematic model is developed for the partial pose calibration. Asimulationstudy is performed to determine the applicability and feasibility ofeachmodel. Experimental pose measurements are performed using each method to obtain data with which to perform an actual calibration of the manipulator and compare with the predicted results. The effects of noise in each measurement system employed and in the manipulator's joint position encoders are discussed. The measurement systems employedare examinedindetail andacomparisonbetween the twois performed. The measured kinematic parametersofeach model are presentedasresults. 20. DISTRIBUTION/AVAILABILITY OF ABSTRACT 21. ABSTRACTSECURITY CLASSIFICATION |X| UNCLASSIFIED/UNLIMITED J SAMEASRPT [ J DT1CUSERS Unclassified 22a. NAME OF RESPONSIBLE INDIVIDUAL 22b. TELEPHONE (Include Area Code) 22c. OFFICESYMBOL Professor Morris R. Driels (408)646-3383 69Dr DD FORM 1473,84MAR 83APRedition maybeused untilexhausted SECURITY CLASSIFICATION OFTHIS PAGE Allothereditionsareobsolete Unclassified Approved for public release; distribution is unlimited. Full Pose and Partial Pose Calibration of a Six Degree of Freedom Robot Manipulator Arm by- Scott Alton Potter Lieutenant, United' States Navy B.E., Vanderbilt University, 1986 Submitted in partial fulfillment ofthe requirements for the degree of MASTER OF SCIENCE IN MECHANICAL ENGINEERING from the NAVAL POSTGRADUATE SCHOOL September 1991 /\ ABSTRACT A PUMA six degree offreedom robot manipulator arm, a 560, is calibrated using full pose and partial pose methods in order to improve the accuracy of the manipulator arm. The theory applicable to modeling of mechanisms is introduced. A thirty parameter kinematic model is developed for use in the full pose calibration method and a twenty-six parameter kinematic model is developed for the partial pose calibration. A simulation study is performed to determine the applicability and feasibility of each model. Experimental pose measurements are performed using each method to obtain data with which to perform an actual calibration ofthe manipulator and compare with the predicted results. The effects of noise in each measurement system employed and in the manipulator's joint position encoders are discussed. The measurement systems employed are examined in detail and a comparison between the two is performed. The measured kinematic parameters ofeach model are presented as results. in ..... TABLE OF CONTENTS INTRODUCTION I. 1 THEORY II. 5 MODELING A. 5 1 Homogeneous Transformations 5 2. Application ofBasic Homogeneous Transformations to Simple Kinematic Mechanisms 11 3 Links, Joints, and Assignment of Coordinate Frames 13 4. The Denavit-Hartenburg Transformation 17 5. The Modified Denavit-Hartenburg Transformation 19 6. The Euler Transformation 20 PUMA 7. Application to the 21 B. IDENTIFICATION METHODOLOGY 27 1 Introduction 27 2. The IMSL routine ZXSSQ 29 3 Application to the Calibration Process 33 III. FULL POSE CALIBRATION 35 THEORY A. 35 1 Introduction 35 2. Full Model of the PUMA, World Coordinate Frame, and Coordinate Measuring Machine 37 B. SIMULATION 39 1. The Suite ofPrograms Used and the Strategy Involved 39 a The program JOINT 41 . IV
The list of books you might like
