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	An improved kinematic calibration method for serial manipulators based on POE formula
	Chang, Chenguang1,2,3; Liu, Jinguo1; Ni, Zhiyu1; Qi, Ruolong1
刊名	Robotica
	2018-08-01
卷号	36期号:8页码:1244-1262
ISSN号	02635747;14698668
DOI	10.1017/S0263574718000280
产权排序	3
英文摘要	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 Copyright © Cambridge University Press 2018.
语种	英语
出版者	Cambridge University Press
内容类型	期刊论文
源URL	[http://ir.opt.ac.cn/handle/181661/30850]
专题	西安光学精密机械研究所_光学影像学习与分析中心
通讯作者	Liu, Jinguo
作者单位	1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China; 2.School of Mechanical Engineering and Automation, Northeastern University, Shenyang, China; 3.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, China
推荐引用方式 GB/T 7714	Chang, Chenguang,Liu, Jinguo,Ni, Zhiyu,et al. An improved kinematic calibration method for serial manipulators based on POE formula[J]. Robotica,2018,36(8):1244-1262.
APA	Chang, Chenguang,Liu, Jinguo,Ni, Zhiyu,&Qi, Ruolong.(2018).An improved kinematic calibration method for serial manipulators based on POE formula.Robotica,36(8),1244-1262.
MLA	Chang, Chenguang,et al."An improved kinematic calibration method for serial manipulators based on POE formula".Robotica 36.8(2018):1244-1262.

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