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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