Robot Kinematic Calibration with Plane Constraints Based on POE Formula
文献类型：会议论文
| 作者 | Wang, Rencheng; Yang, Guilin; Zhao, Hongzhen; Luo, Jun |
| 出版日期 | 2016 |
| 会议日期 | AUG 01-03, 2016 |
| 关键词 | MODEL |
| 英文摘要 | 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. |
| 学科主题 | Automation & Control Systems ; Computer Science |
| ISBN号 | 978-1-5090-4102-2 |
| 源URL | [http://ir.nimte.ac.cn/handle/174433/23499]  |
| 专题 | 会议专题 会议专题_会议论文 |
| 推荐引用方式 GB/T 7714 | Wang, Rencheng,Yang, Guilin,Zhao, Hongzhen,et al. Robot Kinematic Calibration with Plane Constraints Based on POE Formula[C]. 见:. AUG 01-03, 2016. |
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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