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An improved kinematic calibration method for serial manipulators based on POE formula

Published online by Cambridge University Press:  16 May 2018

Chenguang Chang ,
Jinguo Liu ,
Zhiyu Ni  and
Ruolong Qi
Chenguang Chang
Affiliation:
State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, P.R. China School of Mechanical Engineering and Automation, Northeastern University, Shenyang, P.R. China Key Laboratory of Spectral Imaging Technology of Chinese Academy of Sciences, Xi'an Institute of Optics and Precision Mechanics, Chinese Academy of Sciences, Xi'an, P.R. China
Jinguo Liu*
Affiliation:
State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, P.R. China
Zhiyu Ni
Affiliation:
State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, P.R. China
Ruolong Qi
Affiliation:
State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, P.R. China
*
*Corresponding author. E-mail: liujinguo@sia.cn
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Summary

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Existing measurement equipments easily determine position with high precision. However, they evaluate orientation with low precision. It is necessary to minimize the effect of measurement error on identification accuracy. In this study, a method for kinematic calibration based on the product of exponentials (POE) is presented to improve the absolute positioning accuracy of a sliding manipulator. An error model with uniform and generic modeling rules is established in which the tool frame is selected as the reference frame. Furthermore, the redundant parameters of the error model are removed. Subsequently, the actual kinematic parameters are identified by using the least square method. Finally, the process of the improved method is discussed. Kinematic calibration simulations of a sliding manipulator are implemented. The results indicate that the proposed method significantly improves the precision of the sliding manipulator. The improved POE kinematic calibration method offers convenience, efficiency, and high precision. The proposed method can be applied to all types of serial robots with n-DOF

Keywords

Kinematic calibrationIdentificationProduct of exponentials (POE)Measurement error

Information

Type
Articles
Information
Robotica , Volume 36 , Issue 8 , August 2018 , pp. 1244 - 1262
Copyright
Copyright © Cambridge University Press 2018 

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