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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)
Department空间自动化技术研究室
Conference Name2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
Conference DateAugust 4-7, 2013
Conference PlaceTakamastu, Japan
Source PublicationProceedings of 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
PublisherIEEE Computer Society
Publication PlaceWashington, DC
2013
Pages562-568
Indexed ByEI ; CPCI(ISTP)
EI Accession number20134817017293
WOS IDWOS:000335375900095
Contribution Rank1
ISBN978-1-4673-5558-2
KeywordCalibration Modular Reconfigurable Robot Jacobian
AbstractThis 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.
Language英语
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Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/13840
Collection空间自动化技术研究室
Recommended Citation
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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