| 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
 |
| ISSN | 02635747;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. |
| DOI | 10.1017/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 | 光谱成像技术研究室 |
| 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. |
| 条目包含的文件 | ||||||
| 文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
| An improved kinemati（824KB） | 期刊论文 | 出版稿 | 限制开放 | CC BY-NC-SA | 请求全文 | |
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