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Alternative TitleResearch on the Calibration of Modular Reconfigurable Robot
高文斌; 王洪光; 姜勇; 潘新安
Source Publication机械工程学报
Indexed ByEI ; CSCD
EI Accession number20134616974264
Contribution Rank1
Funding Organization国家自然科学基金(60905048);; 机器人学国家重点实验室自主课题(RLZ200802)资助项目
Keyword模块化可重构机器人 指数积 参数标定
Other AbstractThe module level parameter calibration method for modular reconfigurable robot is studied. The twist exponential map is taken to describe the joint module, link module, the assembly orientation between tow modules and the sub-assembly composed of a joint module and a link module; the kinematic modeling methods both in module level and sub-assembly level for modular robot are given. The errors in modules, sub-assemblies and manipulators are analyzed. The error model between the sub-assemblies and manipulator is given, the combined calibration model and its procedure considering the information of the structures of multiple manipulators is presented. The error model between modules and sub-assembly is given, the combined calibration model and its procedure considering multiple sub-assemblies is presented. Based on the two combined calibration models, a tow-level iterative method for module parameter calibration which can compensate the pose errors of multiple manipulators is presented. The simulation result shows that the calibration method is stable, and the calibration results can achieve the pose accuracy compensation of multiple manipulators effectively.
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Cited Times:2[CSCD]   [CSCD Record]
Document Type期刊论文
Recommended Citation
GB/T 7714
高文斌,王洪光,姜勇,等. 模块化可重构机器人标定方法研究[J]. 机械工程学报,2013,49(17):92-100.
APA 高文斌,王洪光,姜勇,&潘新安.(2013).模块化可重构机器人标定方法研究.机械工程学报,49(17),92-100.
MLA 高文斌,et al."模块化可重构机器人标定方法研究".机械工程学报 49.17(2013):92-100.
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