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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