OPT OpenIR  > 光谱成像技术实验室
An improved kinematic calibration method for serial manipulators based on POE formula
Chang, Chenguang1,2,3; Liu, Jinguo1; Ni, Zhiyu1; Qi, Ruolong1
Department光谱成像技术实验室
2018-08-01
Source PublicationRobotica
ISSN02635747;14698668
Volume36Issue:8Pages:1244-1262
Contribution Rank3
AbstractExisting measurement equipments easily determine position with high precision. However, they evaluate orientation with low precision. It is necessary to minimize the effect of measurement error on identification accuracy. In this study, a method for kinematic calibration based on the product of exponentials (POE) is presented to improve the absolute positioning accuracy of a sliding manipulator. An error model with uniform and generic modeling rules is established in which the tool frame is selected as the reference frame. Furthermore, the redundant parameters of the error model are removed. Subsequently, the actual kinematic parameters are identified by using the least square method. Finally, the process of the improved method is discussed. Kinematic calibration simulations of a sliding manipulator are implemented. The results indicate that the proposed method significantly improves the precision of the sliding manipulator. The improved POE kinematic calibration method offers convenience, efficiency, and high precision. The proposed method can be applied to all types of serial robots with n-DOF Copyright © Cambridge University Press 2018.
DOI10.1017/S0263574718000280
Indexed ByEI
Language英语
PublisherCambridge University Press
EI Accession Number20182105224089
Citation statistics
Document Type期刊论文
Identifierhttp://ir.opt.ac.cn/handle/181661/30850
Collection光谱成像技术实验室
Corresponding AuthorLiu, Jinguo
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China;
2.School of Mechanical Engineering and Automation, Northeastern University, Shenyang, China;
3.Key Laboratory of Spectral Imaging Technology of Chinese Academy of Sciences, Xi'An Institute of Optics and Precision Mechanics, Chinese Academy of Sciences, Xi'an, China
Recommended Citation
GB/T 7714
Chang, Chenguang,Liu, Jinguo,Ni, Zhiyu,et al. An improved kinematic calibration method for serial manipulators based on POE formula[J]. Robotica,2018,36(8):1244-1262.
APA Chang, Chenguang,Liu, Jinguo,Ni, Zhiyu,&Qi, Ruolong.(2018).An improved kinematic calibration method for serial manipulators based on POE formula.Robotica,36(8),1244-1262.
MLA Chang, Chenguang,et al."An improved kinematic calibration method for serial manipulators based on POE formula".Robotica 36.8(2018):1244-1262.
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