A novel kinematic calibration method for a handling robot based on optimal trajectory planning
文献类型：会议论文
| 作者 | Lei Ding1,2 ; En Li1; Zize Liang1; Min Tan1
|
| 出版日期 | 2016 |
| 会议名称 | IEEE International Conference on Robotics and Biomimetics |
| 会议日期 | 2016.12 |
| 会议地点 | Qingdao |
| 关键词 | kinematic calibration optimal trajectory planning 5-DOF handling robot |
| 页码 | 927-932 |
| 通讯作者 | En Li |
| 英文摘要 | Kinematic calibration is of great significance to the application of handling robot in the field of stamping industry. In this paper, a novel kinematic calibration method of a 5-DOF handling robot is proposed based on optimal trajectory planning. In order to illustrate our independently developed mechanical structure composed of three rotary joints and two translational joints, the forward kinematic model is constructed using the MDH method. And then, we establish the error model according to the difference between the theoretical position and actual position of robot end effector. Furthermore, a low cost vision measurement system is designed with single camera and self-designed target, while the optimal trajectory for kinematic calibration consisted of calibration points is obtained by Genetic Algorithm (GA). Finally, two simulation experiments are executed to verify the effectiveness and efficiency of our kinematic calibration method. |
| 收录类别 | EI |
| 会议录 | IEEE International Conference on Robotics and Biomimetics
 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/12103]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 作者单位 | 1.中国科学院自动化研究所 2.中国科学院大学 |
| 推荐引用方式 GB/T 7714 | Lei Ding,En Li,Zize Liang,et al. A novel kinematic calibration method for a handling robot based on optimal trajectory planning[C]. 见:IEEE International Conference on Robotics and Biomimetics. Qingdao. 2016.12. |
入库方式： OAI收割
来源：自动化研究所
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