Kinematics of Reconfigurable Flexible- Manipulator Using a Local Product-of-Exponentials Formula

Liu, Ying; Zhu, Ming; Li, Yuanchun

doi:10.1109/wcica.2006.1713745

Cited by 4 publications

(2 citation statements)

References 12 publications

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“…These features make POE formula very suitable for kinematic modeling, and it has been widely used in the robotic area. Generally, there are two kinds of POE formulas for kinematic calibration depending on whether the representation of POE formula is in the base frame or the local frame; they can be termed as global POE (Park, 1994;Okamura and Park, 1996;He et al, 2010) and local one (Chen et al, 2001;Ying et al, 2006;Mustafa et al, 2008;Wang et al, 2016). Global POE formula admits a simple global description of an open kinematic chain.…”

Section: Introductionmentioning

confidence: 99%

“…An error model based on global POE formula was proposed which possessed completeness and continuity properties (Park, 1994;Okamura and Park, 1996). A local POE formula-based robot kinematic calibration method was proposed and used for serial robot calibration (Chen and Yang, 1997;Chen et al, 2001;Ying et al, 2006), which calibrates the initial pose errors between consecutive frames and ignore other error resources. Based on the traditional POE-based calibration model, an improved and modified model was proposed (Lou et al, 2009), the joint offset errors were considered as a set of joint screw errors and excluded from the error model.…”

Section: Introductionmentioning

confidence: 99%

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An improved kinematic model for serial robot calibration based on local POE formula using position measurement

Liu

Zhu

Dong

et al. 2018

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Purpose This paper aims to propose a calibration model for kinematic parameters identification of serial robot to improve its positioning accuracy, which only requires position measurement of the end-effector. Design/methodology/approach The proposed model is established based on local frame representation of the product of exponentials (local POE) formula, which integrates all kinematic errors into the twist coordinates errors; then they are identified with the tool frame’ position deviations simultaneously by an iterative least squares algorithm. Findings To verify the effectiveness of the proposed method, extensive simulations and calibration experiments have been conducted on a 4DOF SCARA robot and a 5DOF drilling machine, respectively. The results indicate that the proposed model outperforms the existing model in convergence, accuracy, robustness and efficiency; fewer measurements are needed to gain an acceptable identification result. Practical implications This calibration method has been applied to a variable-radius circumferential drilling machine. The machine’s positioning accuracy can be significantly improved from 11.153 initially to 0.301 mm, which is well in the tolerance (±0.5 mm) for fastener hole drilling in aircraft assembly. Originality/value An accurate and efficient kinematic calibration model has been proposed, which satisfies the completeness, continuity and minimality requirements. Due to generality, this model can be widely used for serial robot kinematic calibration with any combination of revolute and prismatic joints.

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Section: Introductionmentioning

confidence: 99%