An improved kinematic calibration method for serial manipulators based on POE formula

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 广州中国科学院沈阳自动化研究所分所

	An improved kinematic calibration method for serial manipulators based on POE formula
	Chang CG(畅晨光); Ni ZY(倪智宇); Qi RL(祁若龙); Liu JG(刘金国)
刊名	Robotica
	2018
卷号	36 期号:8 页码:1244-1262
关键词	Kinematic calibration Identification Product of exponentials (POE) Measurement error
ISSN号	0263-5747
通讯作者	Liu JG(刘金国)
产权排序	1
中文摘要	Existing measurement equipments easily determine position with high precision. However, they evaluate orientation with low precision. It is necessary to minimize the effect of measurement error on identification accuracy. In this study, a method for kinematic calibration based on the product of exponentials (POE) is presented to improve the absolute positioning accuracy of a sliding manipulator. An error model with uniform and generic modeling rules is established in which the tool frame is selected as the reference frame. Furthermore, the redundant parameters of the error model are removed. Subsequently, the actual kinematic parameters are identified by using the least square method. Finally, the process of the improved method is discussed. Kinematic calibration simulations of a sliding manipulator are implemented. The results indicate that the proposed method significantly improves the precision of the sliding manipulator. The improved POE kinematic calibration method offers convenience, efficiency, and high precision. The proposed method can be applied to all types of serial robots with n-DOF
收录类别	SCI ; EI
语种	英语
WOS记录号	WOS:000437807400007
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/21843]
专题	沈阳自动化研究所_广州中国科学院沈阳自动化研究所分所
作者单位	1.Key Laboratory of Spectral Imaging Technology of Chinese Academy of Sciences, Xi'an Institute of Optics and Precision Mechanics, Chinese Academy of Sciences, Xi'an, P.R. China 2.School of Mechanical Engineering and Automation, Northeastern University, Shenyang, P.R. China 3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, P.R. China
推荐引用方式 GB/T 7714	Chang CG,Ni ZY,Qi RL,et al. An improved kinematic calibration method for serial manipulators based on POE formula[J]. Robotica,2018,36(8):1244-1262.
APA	Chang CG,Ni ZY,Qi RL,&Liu JG.(2018).An improved kinematic calibration method for serial manipulators based on POE formula.Robotica,36(8),1244-1262.
MLA	Chang CG,et al."An improved kinematic calibration method for serial manipulators based on POE formula".Robotica 36.8(2018):1244-1262.