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A screw axis identification method for serial robot calibration based on the POE model

Haixia Wang (National Laboratory of Pattern Recognition, Institute of Automation, Chinese Academy of Sciences, Beijing, China and Key Laboratory for Robot & Intelligent Technology of Shandong Province, Shandong University of Science and Technology, Qingdao, China)
Shuhan Shen (National Laboratory of Pattern Recognition, Institute of Automation, Chinese Academy of Sciences, Beijing, China)
Xiao Lu (Key Laboratory for Robot & Intelligent Technology of Shandong Province, Shandong University of Science and Technology, Qingdao, China)

Industrial Robot

ISSN: 0143-991x

Article publication date: 2 March 2012

765

Abstract

Purpose

The purpose of this paper is to propose a screw axis identification (SAI) method based on the product of exponentials (POE) model, which is concerned with calibrating a serial robot with m joints equipped with a stereo‐camera vision system.

Design/methodology/approach

Different from conventional approaches, like the circle point analysis (CPA) or the system theoretic method which must collect a great deal of data, the identification of the joint parameters for the proposed method only needs to measure m+1 times for n (n≥3) target points mounted on the manipulator end‐effector.

Findings

In this approach, the joint parameter, called a screw or twist, together with the actual value of joint angle can be obtained by linearly solving a closed‐form expression. Further, this method avoids calibrating the hand‐eye relationship and the exterior parameter of the robot.

Originality/value

Finally, the stability and accuracy of the SAI method are evaluated by simulation experiments, and it is also verified well in practical experiments.

Keywords

Citation

Wang, H., Shen, S. and Lu, X. (2012), "A screw axis identification method for serial robot calibration based on the POE model", Industrial Robot, Vol. 39 No. 2, pp. 146-153. https://doi.org/10.1108/01439911211201609

Publisher

:

Emerald Group Publishing Limited

Copyright © 2012, Emerald Group Publishing Limited

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