Accurate Calibration of Kinematic Parameters of a Robot Using a Laser Tracking System : Compensation of Non-Geometric Errors Using Neural Networks and Selection of Optimal Measuring Points Using Genetic Algorithm
Abstract:A laser tracking system is employed for measuring the robot arm's tip with high accuracy. The geometric parameters in the robot kinematic model are calibrated by minimizing errors between the measured positions and the predicted ones based on the model. The residual errors caused by non-geometric parameters are further reduced by using neural networks, realizing the high positioning accuracy of sub-millimeter order. To speed up the calibration process, the smaller number of measuring points is preferable. Opti… Show more
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.