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Sensitivity Analysis and Model Validation of a 2-DoF Mini Spherical Robot

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Abstract

This paper is focused on the development and validation of an error kinematic model of a mini spherical robot, aimed at its kinematic calibration. The robot is actually a spatial five-bar linkage, provided with two rotational degrees of freedom. A non-overconstrained kinematics is assumed for the robot in order to provide a simple mathematical model and allow a sensitivity analysis of all the involved geometric parameters. A simplified version of the model is proposed. It differs only for the degree of approximation. A comparison between full and reduced models is presented by means of numerical simulations, analyzing their behavior in a significant region of the robot workspace. In order to validate both of them a robot calibration is carried out on a physical prototype of the robot using a vision system, namely a fixed camera in a eye-to-hand configuration. An iterative algorithm aimed at the experimental identification of the geometric data of the robot is used. Some experimental results show the effectiveness of the study.

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Authors and Affiliations

  1. DIISM, Polytechnic University of Marche, Ancona, (AN), Italy

    Matteo Palpacelli, Giacomo Palmieri, Luca Carbonari & David Corinaldi

Authors
  1. Matteo Palpacelli
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  2. Giacomo Palmieri
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  3. Luca Carbonari
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  4. David Corinaldi
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Correspondence to Matteo Palpacelli.

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Palpacelli, M., Palmieri, G., Carbonari, L. et al. Sensitivity Analysis and Model Validation of a 2-DoF Mini Spherical Robot. J Intell Robot Syst 91, 155–163 (2018). https://doi.org/10.1007/s10846-017-0679-2

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  • DOI: https://doi.org/10.1007/s10846-017-0679-2

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