SIA OpenIR  > 空间自动化技术研究室
Alternative TitleResearch on the Calibration for a Modular 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 number20141017419783
Contribution Rank1
Funding Organization国家自然科学基金(60905048)和机器人学国家重点实验室自主课题(RLZ200802)资助项目
Keyword可重构模块化机器人 指数积法 参数标定
Other AbstractThe positioning accuracy calibration method for a reconfigurable modular robot system is studied. The assembly incidence matrix is defined to describe the assembly relationships of adjacent models for any given configuration of the modular robot. According to the assembly information the kinematics is built in product of exponentials (POE) form automatically. According to the adjoint transformation relationship between the theoretical value and the actual value of joint twists in the POE formula, the kinematics is transformed to an equivalent form including the joint constrains. The linearized equation is got by differentiating the kinematics equation so as to describe the relationship between the positioning errors in the end of the manipulator and the errors in the joint twists and in the zero position. A kinematic parameters calibration model is presented based on the least-squares method and its generating method. The calibration model of a 5-DOF modular manipulator is given by program. Taking a laser tracker as the measuring equipment, the kinematic calibration experiment is taken out. The experimental results show that the calibration process can converge to stable value rapidly. The testing results show that the average positioning precision is increased about 4 times.
Citation statistics
Cited Times:1[CSCD]   [CSCD Record]
Document Type期刊论文
Recommended Citation
GB/T 7714
高文斌,王洪光,姜勇,等. 一种模块化机器人的标定方法研究[J]. 机械工程学报,2014,50(3):33-40.
APA 高文斌,王洪光,姜勇,&潘新安.(2014).一种模块化机器人的标定方法研究.机械工程学报,50(3),33-40.
MLA 高文斌,et al."一种模块化机器人的标定方法研究".机械工程学报 50.3(2014):33-40.
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