A novel optimal calibration algorithm on a dexterous 6 DOF serial robot-with the optimization of measurement poses number
Normally, people always believe that the more measurement poses used in a robot calibration process, the more accurate result can be obtained. However, the accuracy improvement converges to a threshold after a number of measurement poses. Moreover, robot calibration is a time consuming process, too many poses would seriously complicate the process and consumedly increase the spending time. In this paper, an optimal measurement pose number searching method was proposed to improve the calibration method in time spending aspect. Optimal robot poses were added to an initial pose set one by one to establish a new pose set for the robot calibration. The root mean squares (RMS) of the end-effector pose errors after being calibrated by using these pose sets were calculated. The optimal number of the configuration set which correspond to the least RMS of pose error can then be obtained. This algorithm can get higher end-effector accuracy, meanwhile consume less time. The simulation on a serial robot manipulator with 24 unknown kinematic parameters shows that the end-effector pose accuracy after calibrated by the using of the optimal pose set is much better than the result before calibration, and is better than the using of a random pose set.
Tian Li Kui Sun Yue Jin Hong Liu
State Key Laboratory of Robotics and System,Harbin Institute of Technology (HIT), Harbin 150001, Chi College of Electromechanical Engineering, China University of Petroleum, Dongying 266555, China Institute of Robotics and Mechatronics, German Aerospace Center, DLR, 82230 Wessling, Germany
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
975-981
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）