Abstract
In this paper, a noble algorithm was proposed which improves the accuracy of the manipulation of the robot by calibrating the model parameters such as the Denavit-Hartenberg parameters, joint compliances, and CM positions of the links. Even though the mechanical parts are manifactured and assembled accurately, always small differences between the designed and the actual system exist due to both the geometric and the unmodeled error. In order to resolve these problems, the proposed algorithm employs an estimation system which consists of a structured light module with a stationary camera and a screen. After derivation of the Jacobian which represents the relationship between the model parameters and the laser points on the screen, the model parameters are updated by using an iterative estimation algorithm such as least-squares manner. This algorithm is advanced by considering the joint flexibility from the previous work which used a rigid link model [1]. Effectiveness of the proposed algorithm was verified by the computer simulation with a 6 DOF manipulator robot.
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Lee, BJ. (2013). Differential Kinematics of Flexible Manipulator for Calibration of Model Parameters. In: Kim, JH., Matson, E., Myung, H., Xu, P. (eds) Robot Intelligence Technology and Applications 2012. Advances in Intelligent Systems and Computing, vol 208. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-37374-9_35
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DOI: https://doi.org/10.1007/978-3-642-37374-9_35
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