A Self-calibration Method of Lander Manipulator for Deep Space Exploration Mission

Jia, Qingxuan; Wen, Shifeng; Chen, Gang; Wang, Yifan; Li, Lanpu

doi:10.1007/978-3-030-27538-9_30

Cited by 1 publication

(2 citation statements)

References 7 publications

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“…Whole process is highlighted with an example between ground (G) and house (H) transformation (A G H ). In this example BP created a DH model with two transformations with chosen parameters in Equation (22). α and angles can be constants or joint angles from EKF as described in Equations (18), while translations are constants.…”

Section: Bacterial Programmingmentioning

confidence: 99%

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Bacterial Programming Based Kinematic Chain Estimation of Construction Vehicle

Pentek¹,

Botzheim²,

Czmerk³

2021

IEEE Access

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Construction vehicle automation for high accuracy applications require information about the state of the machine, resulting in a fully sensitized system with precise kinematic parameters. Since the measurement of these parameters contains uncertainties, accurate measurement of them is an expensive task. Automatic calibration of link parameters makes the task of kinematic parameter determination easier. This study reports a method for forward kinematic chain estimation of an excavator by bacterial programming (BP) based on randomly placed inertial navigation systems (INS) per segments with microelectromechanical sensors (MEMS) within. MEMS INS with fusion techniques provide increasing accuracy with outstanding resilience against harsh environment in a rigid housing. With known robot kinematic the tool orientation estimation can be made more accurate also the path can be planned. The unknown model structure and parameters are established and identified by BP without any a priori or given information about the device according to Denavit-Hartenberg (DH) transformation conventions. Fundamentals of this approach are described in detail and shown on simulated measurement results.INDEX TERMS Bacterial programming, inertial navigation system, Denavit-Hartenberg, MEMS, kinematics, extended Kalman filter.

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Section: Bacterial Programmingmentioning

confidence: 99%

“…In [21] kinematic parameters are determined only from measured joint angles. A calibration method by Jia et al is presented in [22] for space manipulator kinematic parameters estimation. Common point in these works are the goal to increase TCP position accuracy with given model and parameter optimization after external measurements.…”

Section: Introductionmentioning

confidence: 99%