SIA OpenIR  > 空间自动化技术研究室
Alternative TitleA Calibration Method for Serial Robots Based on POE Formula
高文斌; 王洪光; 姜勇
Source Publication机器人
Indexed ByEI ; CSCD
EI Accession number20131616213988
Contribution Rank1
Funding Organization国家863计划资助项目(2007AA041703); 国家自然科学基金资助项目(60905048); 机器人学国家重点实验室自主课题(RLZ200802)
Keyword串联机器人 指数积 参数标定
Other AbstractA kinematics parameter calibration method for serial robots based on the product of exponential (POE) formula is presented. According to the adjoint transformation between the theoretical value and actual value of joint twists, the POE formula is transformed into an equivalent form including the joint constraints. A linearized model describing the relationship between the errors in the end-effector and the errors in the joint twists and in the zero position twist, is obtained by differentiating the kinematics equation. A least-squares kinematics calibration model for serial robots is given and the joint twists are updated through the adjoint transformation in the kinematic parameters identification procedure. A calibration simulation experiment with a 6-DOF (degree of freedom) serial robot shows that the calibration process can quickly converge to the stable values and the calibration result can compensate for the pose errors in the end-effector effectively.
Citation statistics
Document Type期刊论文
Recommended Citation
GB/T 7714
高文斌,王洪光,姜勇. 一种基于指数积的串联机器人标定方法[J]. 机器人,2013,35(2):156-161.
APA 高文斌,王洪光,&姜勇.(2013).一种基于指数积的串联机器人标定方法.机器人,35(2),156-161.
MLA 高文斌,et al."一种基于指数积的串联机器人标定方法".机器人 35.2(2013):156-161.
Files in This Item: Download All
File Name/Size DocType Version Access License
一种基于指数积的串联机器人标定方法.pd(703KB) 开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[高文斌]'s Articles
[王洪光]'s Articles
[姜勇]'s Articles
Baidu academic
Similar articles in Baidu academic
[高文斌]'s Articles
[王洪光]'s Articles
[姜勇]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[高文斌]'s Articles
[王洪光]'s Articles
[姜勇]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: 一种基于指数积的串联机器人标定方法.pdf
Format: Adobe PDF
All comments (0)
No comment.

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.