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

页码：9547 / 9550

页数：4

共 50 条

[41] Numerical Analysis of the Kinematic Accuracy of the Hermetic Harmonic Drive in Space Vehicles
Pacana, Jacek
Siwiec, Dominika
Pacana, Andrzej
APPLIED SCIENCES-BASEL, 2023, 13 (03):
[42] Kinematic Accuracy Analysis of Lead Screw Weft Insertion Mechanism with Flexibility
He, Hu
Zhang, Lei
Kong, Jiayuan
PROCEEDINGS OF THE 2015 INTERNATIONAL CONFERENCE ON APPLIED MECHANICS, MECHATRONICS AND INTELLIGENT SYSTEMS (AMMIS2015), 2016, : 163 - 170
[43] Reliability analysis of kinematic accuracy for the elastic slider-crank mechanism
Tuo Y.
Chen J.
Zhang C.
Chen Y.
Frontiers of Mechanical Engineering in China, 2007, 2 (2): : 214 - 217
[44] Sensitivity analysis on kinematic accuracy of needle bar mechanism in embroidery machine
Guo H.
Zhang G.
Fangzhi Xuebao/Journal of Textile Research, 2019, 40 (01): : 142 - 146
[45] An Adaptive p-Norms-Based Kinematic Calibration Model for Industrial Robot Positioning Accuracy Promotion
Chen, Tinghui
Yang, Weiyi
Li, Shuai
Luo, Xin
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS, 2025, 55 (04): : 2937 - 2949
[46] Improvement of robot kinematic accuracy based on BAS-PSO algorithm
Qiao G.-F.
Lü Z.-Y.
Zhang Y.
Song G.-M.
Song A.-G.
Guangxue Jingmi Gongcheng/Optics and Precision Engineering, 2021, 29 (04): : 763 - 771
[47] Kinematic calibration of a 6-DOF parallel manipulator based on identifiable parameters separation (IPS)
Hu, Yan
Gao, Feng
Zhao, Xianchao
Wei, Baochen
Zhao, Donghua
Zhao, Yinan
MECHANISM AND MACHINE THEORY, 2018, 126 : 61 - 78
[48] Online Serial Manipulator Calibration Based on Multisensory Process Via Extended Kalman and Particle Filters
Du, Guanglong
Zhang, Ping
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2014, 61 (12) : 6852 - 6859
[49] Design and analysis of 3-DOF cylindrical-coordinate-based manipulator
Zhang, Long
Yan, Xingkun
Zhang, Qianwei
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING, 2018, 52 : 35 - 45
[50] Kinematic accuracy analysis of flexible mechanisms with uncertain link lengths and joint clearances
Yan, S.
Guo, P.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, 2011, 225 (C8) : 1973 - 1983

← 1 2 3 4 5 →