Kinematic Accuracy Analysis of Serial Manipulator Based on POE Formula

被引：0
|
作者：
Shen, Jing Jin [1 ]
Zhou, Ying Jiang [1 ]
机构：
[1] Nanjing Univ Posts & Telecommun, Coll Automat, Nanjing 20016, Jiangsu, Peoples R China
来源：
PROCEEDINGS OF THE 35TH CHINESE CONTROL CONFERENCE 2016 | 2016年
关键词：
Product of Exponentials; Calibration; Error Model; Kinematic Accuracy; ROBOT CALIBRATION; MODEL;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In the kinematic calibration of robots, an essential step is to develop an error model. Recently, the product of exponentials (POE) due to its singularity-free property has been widely used in the calibration. However, the previous error models based on POE are of linear kind. In this paper, to investigate the applicability of the liner model, a second order error model is established. Based on the error model, the corresponding statistical models are developed and applied for the Puma 560. It is found that the linear error model is adequately accurate for most practical manipulations.
引用
收藏
页码：9547 / 9550
页数：4
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