A Two-Step Self-calibration Method with Portable Measurement Devices for Industrial Robots Based on POE Formula
文献类型：会议论文
| 作者 | Gu, Lefeng; Yang, Guilin; Fang, Zaojun; Shen, Wenjun; Zheng, Tianjiang; Chen, Chinyin; Zhang, Chi |
| 出版日期 | 2019 |
| 会议日期 | AUG 08-11, 2019 |
| 关键词 | MODEL |
| 卷号 | 11740 |
| DOI | 10.1007/978-3-030-27526-6_63 |
| 英文摘要 | A two-step self-calibration method based on portable calibration devices is proposed in this paper. In the first step, the distance errors in a large-range workspace is utilized to calibrate the manipulator. In the second step, the position errors is utilized to calibrate an external world frame to describe all the coordinate systems in a robot cell and further enhance the calibration results in the first step. For each step, a linear and simplified calibration model is then formulated by employing the local POE formula and introducing the position adjoint conversion matrix. Based on the calibration model, portable and cost-effective self-calibration devices are designed, which consist of a spherical center measuring device, a movable ball bar and Tri-ball plate. The calibration devices presented can obtain distance errors in a large-range workspace and position errors in a local workspace of a manipulator, which enhance the reliability of the calibration results and set an external reference frame. Finally, an accurate kinematic model with respect to the external user-defined frame is given, which enables the off-line programming to be more accurate and effective. The simulation results demonstrate that the proposed two-step self-calibration algorithm is effective and robust. |
| 会议录出版者 | Lecture Notes in Artificial Intelligence |
| 学科主题 | Computer Science ; Robotics |
| ISSN号 | 0302-9743 |
| ISBN号 | 978-3-030-27526-6; 978-3-030-27525-9 |
| 源URL | [http://ir.nimte.ac.cn/handle/174433/23286]  |
| 专题 | 会议专题 会议专题_会议论文 |
| 推荐引用方式 GB/T 7714 | Gu, Lefeng,Yang, Guilin,Fang, Zaojun,et al. A Two-Step Self-calibration Method with Portable Measurement Devices for Industrial Robots Based on POE Formula[C]. 见:. AUG 08-11, 2019. |
入库方式： OAI收割
来源：宁波材料技术与工程研究所
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