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Research on the kinematic calibration of a modular reconfigurable robot
Pan XA(潘新安); Wang HG(王洪光); Jiang Y(姜勇)
作者部门空间自动化技术研究室
会议名称2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
会议日期August 4-7, 2013
会议地点Takamastu, Japan
会议录名称Proceedings of 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
出版者IEEE Computer Society
出版地Washington, DC
2013
页码562-568
收录类别EI ; CPCI(ISTP)
EI收录号20134817017293
WOS记录号WOS:000335375900095
产权排序1
ISBN号978-1-4673-5558-2
关键词Calibration Modular Reconfigurable Robot Jacobian
摘要This paper focuses on the kinematic calibration of a modular reconfigurable robot. To aim at low complexity and high generality, a new calibration method was proposed. Based on the definition of independent modules and the kinematics, the kinematic errors were divided into two categories, and will be calibrated respectively. The first category is the individual module errors, which represent the machining errors of modules; they will be calibrated directly by measuring tools. The second category is the assembly errors between consecutive modules, and will be calibrated by using Jacobian. A concept of virtual joint was proposed to deal with the cases that the axes of the errors are not coincident with any rotary joint. The proposed method decouples the errors and lowers the order of calibration equations, and thus has a simple representation and lower computational complexity. The results of the simulation show that the method is of validity, generality, and accuracy.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/13840
专题空间自动化技术研究室
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GB/T 7714
Pan XA,Wang HG,Jiang Y. Research on the kinematic calibration of a modular reconfigurable robot[C]. Washington, DC:IEEE Computer Society,2013:562-568.
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