A self-calibration method for mobile manipulator
文献类型：会议论文
| 作者 | Zou HB(邹杭波)1,2,3,4; Li, Yinghao1,2,3,4; Zhu SJ(朱思俊)1,4 ; Gu KF(谷侃锋)1,4; Zhang, Xinggang1,2,3,4; Zhao MY(赵明扬)1,4
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| 出版日期 | 2019 |
| 会议日期 | August 8-11, 2019 |
| 会议地点 | Shenyang, China |
| 关键词 | Mobile manipulator Self-calibration Absolute position accuracy |
| 页码 | 106-116 |
| 英文摘要 | With the development of the mobile manipulator, it is needed to have a calibration method suits for ordinary people to improve its absolute position accuracy of the manipulator when the structure is worn. The method should be cheap, convinence and should do not rely on any professional equipment or external measurement. This paper proposes a self-calibration method that not only inherits the above advantages, but also is not affected by the convected motion caused by the shifting of the mobile platform. The basic idea is that when the endpoint of the manipulator reaches the specified target point in different configurations, if the gravity moment of the manipulator with respect to the platform remains basically unchanged, the shift of the platform and the influence of the convected motion can be neglected. By discretizing the target points in Cartesian space, grouping the data based on these target points, and combining the nonlinear least squares method, the parameters of the kinematic model can be optimized. Finally, the effectiveness of the proposed method is verified by different methods including the use of the laser tracker. The absolute position error of the flange center at the end of the manipulator is reduced from 2.25 mm to 0.42 mm. |
| 产权排序 | 1 |
| 会议录 | Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings
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| 会议录出版者 | Springer Verlag |
| 会议录出版地 | Berlin |
| 语种 | 英语 |
| ISSN号 | 0302-9743 |
| ISBN号 | 978-3-030-27525-9 |
| WOS记录号 | WOS:000569253500010 |
| 源URL | [http://ir.sia.cn/handle/173321/25497]  |
| 专题 | 工艺装备与智能机器人研究室 |
| 通讯作者 | Zhao MY(赵明扬) |
| 作者单位 | 1.Kunshan Intelligent Equipment Research Institute, Shenyang Institute of Automatio, Kunshan 215347, China 2.University of Chinese Academy of Sciences, Beijing 100049, China 3.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China 4.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China |
| 推荐引用方式 GB/T 7714 | Zou HB,Li, Yinghao,Zhu SJ,et al. A self-calibration method for mobile manipulator[C]. 见:. Shenyang, China. August 8-11, 2019. |
入库方式： OAI收割
来源：沈阳自动化研究所
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