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Volume 32 Issue 09
Sep.  2006
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Journal of Beijing University of Aeronautics and Astronautics  > 2006  >  32(09): 1104-1108.
Zhao Jianhui, Kong Qiying, Li Fanet al. Simulation of a strapdown inertial continuous wellbore survey algorithm[J]. Journal of Beijing University of Aeronautics and Astronautics, 2006, 32(11): 1286-1289. (in Chinese)
Citation: Tan Yuesheng, Sun Hanxu, Jia Qingxuan, et al. New manipulator calibration method based on screw theory and distance error[J]. Journal of Beijing University of Aeronautics and Astronautics, 2006, 32(09): 1104-1108. (in Chinese)
shu

New manipulator calibration method based on screw theory and distance error

  • 1.

    School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

  • 2. Automation School, Beijing University of Post and Telecommunication Beijing 100876, China

  • Received Date: 23 Nov 2005
  • Publish Date: 30 Sep 2006
    Abstract
  • Accuracy of a manipulator is determined by its ability to position and orient its end-effector at the desired point in its workspace. It must be calibrated in order to improve its position accuracy. Kinematic model and the disturbance of exterior error are critical to the manipulator calibration. The effect of the manipulators′ initial orientation error on calibration was analyzed withdifferent kinematic model. A new mathematical model for manipulator calibration, which makes use of screw theory and distance error model, rather than conventional Denavit-Hartenberg(D-H) parameters and position error, was proposed. Based on the new model, the initial orientation errors of the manipulator were included thereinto. The nature drawbacks of D-H parameters in which small errors in theactual structure do not result in small changes in the kinematic parameters were avoided. The error resulting from the transformation between a measurement device frame system and a manipulator frame system was eliminated, and the difficulty in measurement technology could be overcome. Simulation was made to verify the correctness of the model.

     

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  • [1] Judd R P,Knasinski.A technique to calibrate industrial robots with experimental verfication[J]. IEEE Trans. On Robotics & Automation,1991,6(1):20-30 [2] Everett L J,Driels M,Mooring B W. Kinematic modelling for robot calibration Proceedings-1987 IEEE International Conference on Robotics and Automation.New York:IEEE,1987:183-189 [3] Ziegert J,Datseris P. Basic consideration for robot calibration Proceedings-1988 IEEE International Conference on Robotics and Automation. New York:IEEE,1988:932-938 [4] Alici G,Shirinzadeh B.Laser interferometry based robot position error modelling for kinematic calibration IEEE Int Conf Intell Rob Syst.New York:IEEE,2003,4:3588-3593 [5] Hayati S A.Robot arm geometric link parameter estimation Proceedings of the IEEE Conference on Decision and Control Including The Symposium on Adaptive Processes 22nd. New York:IEEE,1983,3:1477-1483 [6] 周学才,张启先,郑时雄.一种新的机器人机构距离误差模型及补偿算法 .机器人,1991,13(1):44-49 Zhou Xuecai, Zhang Qixian, Zheng Shixiong. A new model with conpensation algorithm for distance errors of robot mechanisms[J]. Robot,1991,13(1):44-49(in Chinese) [7] Murray R M, Li Z X, Sastry S S. A mathematical introduction to robotic manipulation[M].Boca Raton,FL:CRC Press,1994
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