CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
A novel kinematic calibration method for a handling robot based on optimal trajectory planning
Lei Ding1,2; En Li1; Zize Liang1; Min Tan1
2016
Conference NameIEEE International Conference on Robotics and Biomimetics
Source PublicationIEEE International Conference on Robotics and Biomimetics
Pages927-932
Conference Date2016.12
Conference PlaceQingdao
AbstractKinematic calibration is of great significance to the application of handling robot in the field of stamping industry. In this paper, a novel kinematic calibration method of a 5-DOF handling robot is proposed based on optimal trajectory planning. In order to illustrate our independently developed mechanical structure composed of three rotary joints and two translational joints, the forward kinematic model is constructed using the MDH method. And then, we establish the error model according to the difference between the theoretical position and actual position of robot end effector. Furthermore, a low cost vision measurement system is designed with single camera and self-designed target, while the optimal trajectory for kinematic calibration consisted of calibration points is obtained by Genetic Algorithm (GA). Finally, two simulation experiments are executed to verify the effectiveness and efficiency of our kinematic calibration method.
KeywordKinematic Calibration Optimal Trajectory Planning 5-dof Handling Robot
DOI10.1109/ROBIO.2016.7866443
Indexed ByEI
Citation statistics
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/12103
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorEn Li
Affiliation1.中国科学院自动化研究所
2.中国科学院大学
Recommended Citation
GB/T 7714
Lei Ding,En Li,Zize Liang,et al. A novel kinematic calibration method for a handling robot based on optimal trajectory planning[C],2016:927-932.
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