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题名: Research on the kinematic calibration of a modular reconfigurable robot
作者: 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: Proceedings of 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
会议录出版者: IEEE Computer Society
会议录出版地: Washington, DC
出版日期: 2013
页码: 562-568
收录类别: CPCI(ISTP) ; EI
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.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/13840
Appears in Collections:空间自动化技术研究室_会议论文

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