Abstract
A coordinate measuring machine (CMM) is meant to digitise the spatial locations of points and feed the resulting measurements to a CAD system for storing and processing. For reliable utilisation of a CMM, a calibration procedure is often undertaken to eliminate the inaccuracies which result from manufacturing, assembly and installation errors. In this paper, an Immersion digitizer coordinate measuring machine has been calibrated using an accurately manufactured master cuboid fixture. This CMM has been designed as an articulated manipulator to enhance its dexterity and versatility. As such, the calibration problem is tackled with the aid of a kinematic model similar to those employed for the analysis of serial robots. In addition, a stochastic-based optimisation technique is used to identify the parameters of the kinematic model in order for the accurate performance to be achieved. The experimental results demonstrate the effectiveness of this method, whereby the measuring accuracy has been improved considerably.
Article PDF
Similar content being viewed by others
Avoid common mistakes on your manuscript.
References
Bai Y, Wang D (2006) Fuzzy logic for robots calibration—using fuzzy interpolation technique in modeless robot calibration. In: Bai Y, Zhuang H, Wang D (eds) Advanced fuzzy logic technologies in industrial applications. Springer, London
Denavit J, Hartenberg RS (1955) A kinematic notation for low pair mechanisms based on matrices. ASME J Appl Mech 22:215–221
Driels MR, Pathre US (1991) Vision based automatic theodolite for robot calibration. IEEE Trans Robot Autom 7(3)
Foulloy LP, Kelly RB (1984) Improving the precision of a robot. In: Proc. IEEE Conf. Robotics., pp 62–67
Immersion Corporation (2000) MicroScribe 3D Desktop Digitizing Systems: user’s guide & set-up instructions. Immersion Corporation, San Jose
Immersion Corporation (2004) MicroScribe API 2.2 user reference. Immersion Corporation, San Jose
Judd RP, Knasinsky AB (1987) A technique to calibrate industrial robots with experimental verification. In: Proc. IEEE Conf. Robotics., pp 351–357
Khalil W, Besnard S (2002) Geometric calibration of robots with flexible joints and links. J Intell Robot Syst 34:357–359
Kothandaraman G, Rotea MA (2005) Simultaneous-perturbation stochastic-approximation algorithm for parachute parameter estimation. J Aircr 42(5):1229–1235
Lim C, Burdekin MM (2002) Rapid volumetric calibration of coordinate measuring machines using a hole bar artefact. Inst Mech Eng B J Eng Manuf 216:1083–1093
Mooring BW, Roth ZS, Driels MR (1991) Fundamentals of manipulator calibration. Wiley, New York
Reisner LA, King BW, Klein MD, Auner GW, Pandya AK (2007) A prototype biosensor-integrated image-guided surgery system. Int J Med Robot Comput Assist Surg 3(1):82–88
Schena BM, Rosenberg LB (1997) Mechanical digitising arm used to input three dimensional data into a computer. US patent no. Des.337,932
Spall JC (1992) Multivariate stochastic approximation using a simultaneous perturbation gradient approximation. IEEE Trans Autom Control 37(3):332–340
Spall JC (1998) Implementation of the simultaneous perturbation algorithm for stochastic optimization. IEEE Trans Aerosp Electron Syst 34(3):817–823
Sultan IA, Wager JG (1999) User-controlled kinematic modelling. Int J Adv Robot 12(6):663–677
Sultan IA, Wager JG (2001) A technique for the independent-axis calibration of robot manipulators with experimental verification. Int J Comput Integr Manuf 14(4)
Veitschegger WK, Wu CH (1987) A method for calibrating and compensating robot kinematic errors. In: Proc. IEEE Conf. Robotics Automation., pp 39–44
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Sultan, I.A., Puthiyaveettil, P. Calibration of an articulated CMM using stochastic approximations. Int J Adv Manuf Technol 63, 201–207 (2012). https://doi.org/10.1007/s00170-012-3898-5
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s00170-012-3898-5