运动学
校准
机器人
平面(几何)
机器人运动学
计算机科学
机器人校准
人工智能
计算机视觉
物理
数学
移动机器人
几何学
经典力学
量子力学
作者
Rencheng Wang,Guilin Yang,Hongwei Zhao,Jun Luo
标识
DOI:10.1109/icinfa.2016.7832127
摘要
Utilizing plane constraints, a linear kinematic calibration algorithm is proposed for industrial robots based on local frame representation of the POE (Product-of-Exponential) formula. Different from conventional calibration methods which need expensive measurement equipment, the proposed method only needs a laser range finder mounted onto the robot end-effector and several predefined planes fixed to the base. As it suffices to lump all the kinematic errors into the initial poses of the local coordinate frames, the error model derived from the plane constraints is significantly simplified. An iterative least square algorithm is employed to identify the kinematic errors of the robot. Simulation results demonstrate the effectiveness of the proposed calibration method.
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