TY  - JOUR
AB  - 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.
VL  - 39
IS  - 2
SN  - 0143-991X
DO  - 10.1108/01439911211201609
UR  - https://doi.org/10.1108/01439911211201609
AU  - Wang Haixia
AU  - Shen Shuhan
AU  - Lu Xiao
PY  - 2012
Y1  - 2012/01/01
TI  - A screw axis identification method for serial robot calibration based on the POE model
T2  - Industrial Robot: An International Journal
PB  - Emerald Group Publishing Limited
SP  - 146
EP  - 153
Y2  - 2024/04/20
ER  -