Calibration Method and Simulation of Kinematic Parameters for Light-Weight Robot Based on Flexible Error Analysis

被引：4

作者：

Chen, Gang ^{[1
]}

Wang, Lei ^{[1
]}

Jia, Qingxuan ^{[1
]}

Wang, Shiwei ^{[1
]}

机构：

[1] Beijing Univ Posts & Telecommun, Sch Automat, Beijing, Peoples R China

来源：

2017 2ND INTERNATIONAL CONFERENCE ON CYBERNETICS, ROBOTICS AND CONTROL (CRC 2017) | 2017年

关键词：

light-weight robot; error model; flexible; kinematic parameters calibration; ACCURACY;

D O I：

10.1109/CRC.2017.32

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A light-weight robot kinematic parameters calibration method based on flexible error analysis is proposed. The kinematic model is established using MDH method. On the basis of the kinematic model and the flexible error analysis, the integrated error model is established. And then, a kinematic parameter calibration method considering the flexible factors is proposed. Simulation results show that the proposed calibration method can identify accurate kinematic parameters under effect of the robot flexible deformation.

引用

页码：23 / 27

页数：5

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