A novel kinematic calibration method for a handling robot based on optimal trajectory planning
Lei Ding1,2; En Li1; Zize Liang1; Min Tan1
2016
会议名称IEEE International Conference on Robotics and Biomimetics
会议录名称IEEE International Conference on Robotics and Biomimetics
页码927-932
会议日期2016.12
会议地点Qingdao
摘要Kinematic 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.
关键词Kinematic Calibration Optimal Trajectory Planning 5-dof Handling Robot
DOI10.1109/ROBIO.2016.7866443
收录类别EI
引用统计
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/12103
专题复杂系统管理与控制国家重点实验室_先进机器人
通讯作者En Li
作者单位1.中国科学院自动化研究所
2.中国科学院大学
推荐引用方式
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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