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A self-calibration method for mobile manipulator
Zou HB(邹杭波)1,2,3,4; Li, Yinghao1,2,3,4; Zhu SJ(朱思俊)1,4; Gu KF(谷侃锋)1,4; Zhang, Xinggang1,2,3,4; Zhao MY(赵明扬)1,4
Conference Name12th International Conference on Intelligent Robotics and Applications, ICIRA 2019
Conference DateAugust 8-11, 2019
Conference PlaceShenyang, China
Source PublicationIntelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings
PublisherSpringer Verlag
Publication PlaceBerlin
Indexed ByEI
EI Accession number20193307318063
Contribution Rank1
KeywordMobile manipulator Self-calibration Absolute position accuracy
AbstractWith the development of the mobile manipulator, it is needed to have a calibration method suits for ordinary people to improve its absolute position accuracy of the manipulator when the structure is worn. The method should be cheap, convinence and should do not rely on any professional equipment or external measurement. This paper proposes a self-calibration method that not only inherits the above advantages, but also is not affected by the convected motion caused by the shifting of the mobile platform. The basic idea is that when the endpoint of the manipulator reaches the specified target point in different configurations, if the gravity moment of the manipulator with respect to the platform remains basically unchanged, the shift of the platform and the influence of the convected motion can be neglected. By discretizing the target points in Cartesian space, grouping the data based on these target points, and combining the nonlinear least squares method, the parameters of the kinematic model can be optimized. Finally, the effectiveness of the proposed method is verified by different methods including the use of the laser tracker. The absolute position error of the flange center at the end of the manipulator is reduced from 2.25 mm to 0.42 mm.
Document Type会议论文
Corresponding AuthorZhao MY(赵明扬)
Affiliation1.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
3.University of Chinese Academy of Sciences, Beijing 100049, China
4.Kunshan Intelligent Equipment Research Institute, Shenyang Institute of Automatio, Kunshan 215347, China
Recommended Citation
GB/T 7714
Zou HB,Li, Yinghao,Zhu SJ,et al. A self-calibration method for mobile manipulator[C]. Berlin:Springer Verlag,2019:106-116.
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