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General information |
| Author |
Lee, Bum-Joo |
| Published |
InTech Open Access Publisher, 2013
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| Abstract |
In this paper differential kinematics was
geometrically derived to be utilized in a calibration
algorithm that improves the accuracy of the
manipulation of a robot. Even though the mechanical
components are manufactured and assembled precisely,
small differences between the designed and the actual
system always exist, due to both geometric and
unmodelled errors. In order to resolve these problems,
differential relationships between the model parameters
and the end‐effectorʹs posture were formulated.
Subsequently, a derivative based estimation algorithm,
such as an EKF (Extended Kalman Filter) manner, could
be adopted to update the model parameters. The
proposed algorithm includes joint flexibility, so is an
advanced version of previous work, where a rigid joint
model was adopted [1]. The effectiveness of the
proposed algorithm was verified by a computer
simulation with a 6 DOF manipulator robot. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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