Vision-Aided Online Kinematic Calibration of a Planar 3RRR Manipulator

摘要：

　　In this paper,we propose an automatic approach for the online kinematic calibration of a planar 3RRR manipulator.This method utilizes a camera as the global sensor to measure pose of the end effector.After the visual measuring system obtains enough pose data,an algorithm based on the implicit model is performed for the kinematic calibration.Finally,the calibration result is sent to the controller to compensate the geometric model of the manipulator.All these mentioned steps are implemented automatically without human intervene.Experiment studies on a real system have shown the effectiveness and the convenience of the present method.

关键词： Vision-aided Kinematic calibration 3RRR manipulator Automatic

作者: Hai Li Xianmin Zhang Lei Zeng Heng Wu

作者单位: Guangdong Province Key Laboratory of Precision Equipment and Manufacturing Technology, South China University of Technology,Guangzhou 510640, China

会议类型: 国际会议

会议名称: 2016中国机构与机器科学国际会议

会议地点: 广州

会议语种:英文

页码: 963-972

在线出版日期: 2016-12-15（万方平台首次上网日期，不代表论文的发表时间）