Nothing Special   »   [go: up one dir, main page]

Li et al., 2019 - Google Patents

Kinematic calibration of serial robot using dual quaternions

Li et al., 2019

Document ID
14680193626272730652
Author
Li G
Zhang F
Fu Y
Wang S
Publication year
Publication venue
Industrial Robot: the international journal of robotics research and application

External Links

Snippet

Purpose The purpose of this paper is to propose an error model for serial robot kinematic calibration based on dual quaternions. Design/methodology/approach The dual quaternions are the combination of dual-number theory and quaternion algebra, which means that they …
Continue reading at www.emerald.com (other versions)

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40611—Camera to monitor endpoint, end effector position
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof in so far as they are not adapted to particular types of measuring means of the preceding groups
    • G01B21/02—Measuring arrangements or details thereof in so far as they are not adapted to particular types of measuring means of the preceding groups for measuring length, width, or thickness
    • G01B21/04—Measuring arrangements or details thereof in so far as they are not adapted to particular types of measuring means of the preceding groups for measuring length, width, or thickness by measuring coordinates of points
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed

Similar Documents

Publication Publication Date Title
Li et al. Kinematic calibration of serial robot using dual quaternions
Sun et al. Kinematic calibration of a 3-DoF rotational parallel manipulator using laser tracker
Zhang et al. Stereo vision based autonomous robot calibration
Tannous et al. Sensitivity analysis of parallel manipulators using an interval linearization method
Joubair et al. Absolute accuracy analysis and improvement of a hybrid 6-DOF medical robot
Majarena et al. An overview of kinematic and calibration models using internal/external sensors or constraints to improve the behavior of spatial parallel mechanisms
Abtahi et al. Experimental kinematic calibration of parallel manipulators using a relative position error measurement system
Wang et al. A screw axis identification method for serial robot calibration based on the POE model
Zhenhua et al. A distance error based industrial robot kinematic calibration method
Briot et al. Accuracy analysis of 3T1R fully-parallel robots
Jeong et al. Kinematic calibration for redundantly actuated parallel mechanisms
Klimchik et al. Optimal pose selection for calibration of planar anthropomorphic manipulators
Chiu et al. Self-calibration of a general hexapod manipulator with enhanced precision in 5-DOF motions
WO2018196232A1 (en) Method for automatically calibrating robot and end effector, and system
Olarra et al. Experimental evaluation of a special purpose miniature machine tool with parallel kinematics architecture: Free leg hexapod
Takeda et al. A DBB-based kinematic calibration method for in-parallel actuated mechanisms using a Fourier series
Jáuregui et al. Kinematic calibration of precise 6-DOF Stewart platform-type positioning systems for radio telescope applications
Chiu et al. Self-calibration of a general hexapod manipulator using cylinder constraints
Majarena et al. Analysis and evaluation of objective functions in kinematic calibration of parallel mechanisms
Wu et al. Review of industrial robot stiffness identification and modelling
Santolaria et al. Self-alignment of on-board measurement sensors for robot kinematic calibration
Guo et al. A distance calibration method for kinematic parameters of serial industrial robots considering the accuracy of relative position
Majarena et al. Modelling and calibration of parallel mechanisms using linear optical sensors and a coordinate measuring machine
Verner et al. Optimal calibration of parallel kinematic machines
Hernández-Martínez et al. Calibration of parallel manipulators and their application to machine tools. A state of the art survey