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An improved kinematic calibration method for serial manipulators based on POE formula
Chang, Chenguang1,2,3; Liu, Jinguo1; Ni, Zhiyu1; Qi, Ruolong1
作者部门光谱成像技术实验室
2018-08-01
发表期刊Robotica
ISSN02635747;14698668
卷号36期号:8页码:1244-1262
产权排序3
摘要Existing 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
收录类别EI
语种英语
出版者Cambridge University Press
EI入藏号20182105224089
引用统计
文献类型期刊论文
条目标识符http://ir.opt.ac.cn/handle/181661/30850
专题光谱成像技术实验室
通讯作者Liu, Jinguo
作者单位1.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
推荐引用方式
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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