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Alternative TitleKinematic calibration method of robots based on distance error
高文斌; 王洪光; 姜勇; 潘新安
Source Publication机器人
Indexed ByEI ; CSCD
EI Accession number20140317203613
Contribution Rank1
Funding Organization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机器人 指数积法 距离误差 参数标定
Other AbstractAccording to the adjoint transformation relationship between the theoretical and actual values of joint twists in the product of exponential (POE) formula, the robot’s kinematics equation is transformed into an equivalent form including the joint constraints. The linearized equation describing the relationship between the positioning errors of the end-link and the errors in the joint twists and in the zero position is obtained by differentiating the kinematic equation. With the definition of distance accuracy, the robot’s distance error model is set up in POE form, which can avoid the coordinate transformation error from measurement equipment coordinate system to robot’s base coordinate system. A kinematic calibration model of robots is presented based on the least-squares method. Finally, a kinematic parameters calibration experiment of a 5-DOF (degree of freedom) manipulator is completed with the help of a laser tracker. The testing result shows that the mean value of the distance errors of the robot is reduced about 3.5 times on the testing points generated randomly after parameter calibration.
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Document Type期刊论文
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GB/T 7714
高文斌,王洪光,姜勇,等. 基于距离误差的机器人运动学参数标定方法[J]. 机器人,2013,35(5):600-606.
APA 高文斌,王洪光,姜勇,&潘新安.(2013).基于距离误差的机器人运动学参数标定方法.机器人,35(5),600-606.
MLA 高文斌,et al."基于距离误差的机器人运动学参数标定方法".机器人 35.5(2013):600-606.
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