Full pose and partial pose calibration of a six degree of freedom robot manipulator arm.

140 Pages·2.1 MB·en_US

by  Potter, Scott Alton.;Driels, Morris R.

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.

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FULL POSE AND PARTIAL POSE CALIBRATION OF A SLX DEGREE OF FREEDOM ROBOT MANIPULATOR ARM
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Potter, Scott Alton
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Master'sThesis FROM 1/91 TO 9/91 September 1991 131
SUPPLEMENTARY NOTATION
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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.
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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.
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Professor Morris R. Driels [phone] 69Dr
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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