中国科学院机构知识库网格
Chinese Academy of Sciences Institutional Repositories Grid
Calibration of Industry Robots with Consideration of Loading Effects Using Product-Of-Exponential (POE) and Gaussian Process (GP)

文献类型:会议论文

作者Jing, Wei; Tao, Pey Yuen; Yang, Guilin; Shimada, Kenji
出版日期2016
会议日期MAY 16-21, 2016
关键词KINEMATIC CALIBRATION
英文摘要Robot calibration is critical for industrial robot applications that require high accuracy. This paper presents a novel calibration method that utilizes Product-Of-Exponential (POE) and Gaussian Process (GP) regression to compensate for both geometric and non-geometric errors within the robot manipulator. Effects of a payload at the end-effector is also considered in the GP regression model in order to further improve robot positioning accuracy in the task space. Simulation and experimental results demonstrate the effectiveness of the proposed method. The experimental results show that the proposed method reduces norm pose error by 65.5% and 50.2% on average compared to conventional base-tool calibration and POE calibration respectively.
会议录出版者IEEE International Conference on Robotics and Automation ICRA
学科主题Automation & Control Systems ; Robotics
ISSN号1050-4729
ISBN号978-1-4673-8026-3
源URL[http://ir.nimte.ac.cn/handle/174433/23500]  
专题会议专题
会议专题_会议论文
推荐引用方式
GB/T 7714
Jing, Wei,Tao, Pey Yuen,Yang, Guilin,et al. Calibration of Industry Robots with Consideration of Loading Effects Using Product-Of-Exponential (POE) and Gaussian Process (GP)[C]. 见:. MAY 16-21, 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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