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A New Robotic Manipulator Calibration Method of Identification Kinematic and Compliance Errors

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Intelligent Computing Methodologies (ICIC 2020)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 12465))

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Abstract

In this work, a new robotic calibration method is proposed for reducing the positional errors of the robot manipulator. First, geometric errors of a robot are identified by using a conventional kinematic calibration model of the robot. Then, a radial basis function is constructed for compensating the compliance errors based on the effective torques for further increasing the positional precision of the robot. The enhanced positional accuracy of the robot manipulator in experimental studies that are carried on a YS100 robot illustrates the advantages of the suggested algorithm than the other techniques.

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Acknowledgment

This research was supported by 2020 Research Fund of University of Ulsan, Ulsan, Korea.

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Authors and Affiliations

  1. Graduate School of Electrical Engineering, University of Ulsan, Ulsan, 680-749, South Korea

    Phu-Nguyen Le

  2. School of Electrical Engineering, University of Ulsan, Ulsan, 680-749, South Korea

    Hee-Jung Kang

Authors
  1. Phu-Nguyen Le
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  2. Hee-Jung Kang
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Corresponding author

Correspondence to Hee-Jung Kang .

Editor information

Editors and Affiliations

  1. Machine Learning and Systems Biology, Tongji University, Shanghai, China

    De-Shuang Huang

  2. School of Electrical, Computer and Telecommunications Engineering, University of Wollongong, North Wollongong, NSW, Australia

    Prashan Premaratne

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Le, PN., Kang, HJ. (2020). A New Robotic Manipulator Calibration Method of Identification Kinematic and Compliance Errors. In: Huang, DS., Premaratne, P. (eds) Intelligent Computing Methodologies. ICIC 2020. Lecture Notes in Computer Science(), vol 12465. Springer, Cham. https://doi.org/10.1007/978-3-030-60796-8_2

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  • DOI: https://doi.org/10.1007/978-3-030-60796-8_2

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-60795-1

  • Online ISBN: 978-3-030-60796-8

  • eBook Packages: Computer ScienceComputer Science (R0)

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