NDLI: A novel kinematic calibration algorithm for reconfigurable robotic systems

Content Provider	IEEE Xplore Digital Library
Author	Yang, G. Chen, I.-M.
Copyright Year	1997
Description	Author affiliation: Sch. of Mech. & Production Eng., Nanyang Technol. Univ., Singapore (Yang, G.)
Abstract	A modular reconfigurable robot system is a collection of individual link and joint components that can be assembled into different robot geometries for specific tasks requirements. However, the machining tolerance and assembly errors at the module interconnections may affect the positioning accuracy of the end-effector. Based on the product-of-exponentials formula and recursive forward dyad kinematics, this paper describes a novel kinematic calibration algorithm for modular robots. The error correction parameters are assumed to be in the relative initial positions of the dyads. A six-parameter calibration method is derived on the ground of a linear superposition principle and differential transformation theory. An iterative least square algorithm is employed for the calibration solution. A simulation example of calibrating a three-module manipulator is demonstrated. The result has shown that the average positioning accuracy of the end-effector increases two orders of magnitudes after the calibration.
Starting Page	3197
Ending Page	3202
File Size	611700
Page Count	6
File Format	PDF
ISBN	0780336127
DOI	10.1109/ROBOT.1997.606775
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1997-04-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Kinematics Calibration Robots Robotic assembly Iterative algorithms Assembly systems Computational geometry Machining Forward error correction Least squares methods
Content Type	Text
Resource Type	Article

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