Determination of the Identifiable Parameters in Robot Calibration Based on the POE Formula

Chen, Genliang; Wang, Hao; Lin, Zhongqin

doi:10.1109/tro.2014.2319560

Cited by 128 publications

(57 citation statements)

References 30 publications

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“…Based on the local POE (product of exponentials) formula method presented in [27], the homogeneous transformation matrix of { +1, } with respect to { , } can be expressed as…”

Section: Error Modelling Of the Parallel Mechanismmentioning

confidence: 99%

“…Differentiating (1) with respect to { 4,4 } and applying appropriate adjoint transformation (for more details, see [27]), the pose error twist of { +1, } can be made such that …”

Section: Error Modelling Of the Parallel Mechanismmentioning

confidence: 99%

“…To overcome the deficiency in the LM method in which the convergence rate decreases if the search path is far from the optimal solution, a Trust Region (TR) method [25] is investigated to identify the source errors of the robot. Nevertheless, the number of iterations and optimization results of the nonlinear algorithm are significantly affected by the initial value, so the least square (LS) method [26,27] based on the linear model is widely employed in practice because it is simpler and easier to use. The LS method can be directly adopted for the well-conditioned identification Jacobian; however, as the mechanical structure becomes more complex, more attention should be paid to deal with the ill-conditioned identification problem caused by multicollinearity between the source errors.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Kinematic Calibration Based on the Multicollinearity Diagnosis of a 6-DOF Polishing Hybrid Robot Using a Laser Tracker

Zhang

Dong

Guo

et al. 2018

Mathematical Problems in Engineering

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A general methodology for ensuring the geometric accuracy of a 6-DOF polishing hybrid robot having a 3UPS and UP parallel mechanism and a 3-DOF wrist is presented. The process is implemented in three steps: formulation of the error model containing complete source errors such as offset errors of the actuated joints and structural errors of the joints and links utilizing product of exponentials formula and screw theory. Measurement of the full pose error twist with a specially designed measurement tool having three reference points was undertaken. Identification of the source errors by a stepwise identification strategy to overcome the ill-conditioned problem arising from the multicollinearity and development of a linearized error compensator was completed. An experiment has been carried out on the prototype, and the results show that, after calibration, a position volumetric error of 0.07 mm and an orientation error of 0.07 degrees can be achieved over the cubic task workspace with repeatability of 0.016 mm and 0.010 degrees.

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“…Based on the local POE (product of exponentials) formula method presented in [27], the homogeneous transformation matrix of { +1, } with respect to { , } can be expressed as…”

Section: Error Modelling Of the Parallel Mechanismmentioning

confidence: 99%

“…Differentiating (1) with respect to { 4,4 } and applying appropriate adjoint transformation (for more details, see [27]), the pose error twist of { +1, } can be made such that …”

Section: Error Modelling Of the Parallel Mechanismmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Kinematic Calibration Based on the Multicollinearity Diagnosis of a 6-DOF Polishing Hybrid Robot Using a Laser Tracker

Zhang

Dong

Guo

et al. 2018

Mathematical Problems in Engineering

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show abstract

“…A genetic algorithm has also been adopted to optimize the parameters of cubic polynomials, in which four cubic polynomials are used to describe angular velocities of a flexible manipulator's two joints [19]. Chen et al have proposed an analytical approach to determine the redundant parameters for the calibration of serial manipulators [20]. A manipulator has been studied using an electrostatic model [21].…”

Section: Introductionmentioning

confidence: 99%

Optimization and Experimental Study of an Intelligent Bamboo-Splitting Machine Charging Manipulator

Liu

Wen

et al. 2020

Journal of Robotics

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A nonautomatic bamboo-splitting machine must charge with material and change tools manually. However, manual charging is very dangerous. An intelligent bamboo-splitting machine can feed automatically and change tools intelligently and has broad application prospects. A charging manipulator is an important part of an intelligent bamboo-splitting machine. The size of the manipulator was optimized here using a genetic algorithm. The capture rate, centering rate, and dynamic characteristics of an intelligent bamboo-splitting machine charging manipulator, in which key factors were considered, were experimentally studied. First, three different manipulators, with arm lengths at 210, 220, and 230 mm, were developed. Then, the bamboo materials were divided into three gradients (60–85, 85–110, and 110–135 mm) according to diameter ranges. Accelerators were used to measure the manipulator arm dynamic characteristics, and a high-speed charge-coupled device was used to record the grasping process. Experimental results showed that the manipulator capture rate with an arm length of = 220 mm was as high as 100%, but that of manipulators with arm lengths of = 210 and 230 mm was 96 and 98.67%, respectively. Thus, the manipulator with a 220 mm arm length showed better performance than the other two manipulators. Trend curves of the influence of material diameter on capture time were similar to an exponential function.

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“…Hayati [5] added a rotational parameter on the basis of D-H model and proposed modified D-H model, which is widely used in kinematic calibration by later researchers [6][7][8][9][10]. Besides, product of exponentials (POE) formula [11] was also used in the robot kinematic model to perform robot calibration [12,13].…”

Section: Introductionmentioning

confidence: 99%

Positional error similarity analysis for error compensation of industrial robots

Zeng

Tian

Liao

2016

Robotics and Computer-Integrated Manufacturing

109

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Determination of the Identifiable Parameters in Robot Calibration Based on the POE Formula

Cited by 128 publications

References 30 publications

Kinematic Calibration Based on the Multicollinearity Diagnosis of a 6-DOF Polishing Hybrid Robot Using a Laser Tracker

Kinematic Calibration Based on the Multicollinearity Diagnosis of a 6-DOF Polishing Hybrid Robot Using a Laser Tracker

Optimization and Experimental Study of an Intelligent Bamboo-Splitting Machine Charging Manipulator

Positional error similarity analysis for error compensation of industrial robots

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