中国科学院机构知识库网格
Chinese Academy of Sciences Institutional Repositories Grid
Research on the kinematic calibration of a modular reconfigurable robot

文献类型:会议论文

作者Pan XA(潘新安); Wang HG(王洪光); Jiang Y(姜勇)
出版日期2013
会议名称2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
会议日期August 4-7, 2013
会议地点Takamastu, Japan
关键词calibration modular reconfigurable robot Jacobian
页码562-568
中文摘要This paper focuses on the kinematic calibration of a modular reconfigurable robot. To aim at low complexity and high generality, a new calibration method was proposed. Based on the definition of independent modules and the kinematics, the kinematic errors were divided into two categories, and will be calibrated respectively. The first category is the individual module errors, which represent the machining errors of modules; they will be calibrated directly by measuring tools. The second category is the assembly errors between consecutive modules, and will be calibrated by using Jacobian. A concept of virtual joint was proposed to deal with the cases that the axes of the errors are not coincident with any rotary joint. The proposed method decouples the errors and lowers the order of calibration equations, and thus has a simple representation and lower computational complexity. The results of the simulation show that the method is of validity, generality, and accuracy.
收录类别EI ; CPCI(ISTP)
产权排序1
会议录Proceedings of 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
会议录出版者IEEE Computer Society
会议录出版地Washington, DC
语种英语
ISBN号978-1-4673-5558-2
WOS记录号WOS:000335375900095
源URL[http://ir.sia.cn/handle/173321/13840]  
专题沈阳自动化研究所_空间自动化技术研究室
推荐引用方式
GB/T 7714
Pan XA,Wang HG,Jiang Y. Research on the kinematic calibration of a modular reconfigurable robot[C]. 见:2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013. Takamastu, Japan. August 4-7, 2013.

入库方式: OAI收割

来源:沈阳自动化研究所

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