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Complete relative pose error model for robot calibration

Shiwei Wang (Beijing University of Posts and Telecommunications, Beijing, China)
Qingxuan Jia (Beijing University of Posts and Telecommunications, Beijing, China)
Gang Chen (Beijing University of Posts and Telecommunications, Beijing, China)
Dan Liu (Beijing University of Posts and Telecommunications, Beijing, China)

Industrial Robot

ISSN: 0143-991x

Article publication date: 20 June 2019

Issue publication date: 21 August 2019

Abstract

Purpose

This paper aims to present a complete relative pose error model for robot calibration, considering both the relative distance error and the relative rotation error of the robot end-effector, which can improve calibration accuracy.

Design/methodology/approach

In this paper, the relative distance error model and the relative rotation error model of robot calibration are derived by ignoring high-order nonlinear errors, and the two models form into a complete relative pose error model. Besides, mathematical expectation of the nonlinear errors is calculated, indicating that they have little influence on calibration accuracy.

Findings

Comparative experiments have indicated that the proposed complete relative pose error model does better in robot calibration than only the distance error model.

Originality/value

The main contribution of this paper lies in the derivation of the relative rotation error model, which helps to form a complete relative pose error model for calibration. The proposed method improves calibration accuracy, with avoiding identifying the transformation matrix between the measurement system frame and the robot base frame.

Keywords

Acknowledgements

Conflicts of interest: The authors declare that they have no conflicts of interest.

Citation

Wang, S., Jia, Q., Chen, G. and Liu, D. (2019), "Complete relative pose error model for robot calibration", Industrial Robot, Vol. 46 No. 5, pp. 622-630. https://doi.org/10.1108/IR-11-2018-0244

Publisher

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Emerald Publishing Limited

Copyright © 2019, Emerald Publishing Limited