A novel method to identify DH parameters of the rigid serial-link robot based on a geometry model
文献类型：期刊论文
| 作者 | Zhang, Tao1,2,3 ; Song, Yuntao1; Wu, Huapeng3; Wang, Qi1,4
|
| 刊名 | INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION
 |
| 出版日期 | 2020-09-17 |
| ISSN号 | 0143-991X |
| 关键词 | Curve fitting Lagrange Robot calibration Robot kinematic |
| DOI | 10.1108/IR-05-2020-0103 |
| 通讯作者 | Wang, Qi(807073429@qq.com) |
| 英文摘要 | Purpose Every geometric model corresponding to a unique feature whose errors of parameters uncorrelated, so the linearization technique can be successfully applied. The solution of a linear least square problem can be applied straightforwardly. This method has advantages especially in calibrate the redundant robot because it's relatively small. The parameters of kinematics are unique and determined by this algorithm. Design/methodology/approach In this paper, a geometric identification method has been studied to estimate the parameters in the Denavit-Hartenberg (DH) model of the robot. Through studying the robot's geometric features, specific trajectories are designed for calibrating the DH parameters. On the basis of these geometric features, several fitting methods have been deduced so that the important geometric parameters of robots, such as the actual rotation centers and rotate axes, can be found. Findings By measuring the corresponding motion trajectory at the end-effector, the trajectory feature can be identified by using curve fitting methods, and the trajectory feature will reflect back to the actual value of the DH parameters. Originality/value This method is especially suitable for rigid serial-link robots especially for redundant robots because of its specific calibration trajectory and geometric features. Besides, this method uses geometric features to calibrate the robot which is relatively small especially for the redundant robot comparing to the numerical algorithm. |
| WOS关键词 | KINEMATIC CALIBRATION ; IDENTIFICATION ; MANIPULATORS ; DESIGN ; INDEX ; POSES |
| 资助项目 | CFETR[2017YFE0300503] |
| WOS研究方向 | Engineering ; Robotics |
| 语种 | 英语 |
| 出版者 | EMERALD GROUP PUBLISHING LTD |
| WOS记录号 | WOS:000570874500001 |
| 资助机构 | CFETR |
| 源URL | [http://ir.hfcas.ac.cn:8080/handle/334002/104275]  |
| 专题 | 中国科学院合肥物质科学研究院 |
| 通讯作者 | Wang, Qi |
| 作者单位 | 1.Chinese Acad Sci, Inst Plasma Phys, ASIPP, Beijing, Peoples R China 2.Univ Sci & Technol China, Hefei, Peoples R China 3.Lappeenranta Univ Technol LUT, Lappeenranta, Finland 4.Huainan New Energy Res Ctr, Anhui Prov Key Lab Special Welding, Hefei, Peoples R China |
| 推荐引用方式 GB/T 7714 | Zhang, Tao,Song, Yuntao,Wu, Huapeng,et al. A novel method to identify DH parameters of the rigid serial-link robot based on a geometry model[J]. INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION,2020. |
| APA | Zhang, Tao,Song, Yuntao,Wu, Huapeng,&Wang, Qi.(2020).A novel method to identify DH parameters of the rigid serial-link robot based on a geometry model.INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION. |
| MLA | Zhang, Tao,et al."A novel method to identify DH parameters of the rigid serial-link robot based on a geometry model".INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION (2020). |
入库方式： OAI收割
来源：合肥物质科学研究院
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