Robot calibration based on multi-thread particle swarm optimization

Abstract

Main contributions include: (1) A platform composed of a structure-light vision sensor and a industrial robot is established for robot calibration. (2) Transform the robot calibration to an optimization problem through measuring a fixed point at different hand poses and positions. (3) A multi-thread particle swarm optimization algorithm is proposed and applied in robot kinematic parameter estimation. The effectiveness of the proposed method is validated by simulation.