Dual manipulator system calibration based on virtual constraints

• Autorzy: Zhu Q. , Xie X. , Li C.

Identyfikatory

DOI

10.24425/bpasts.2019.130889

• Języki publikacji: EN

Abstrakty

EN

Calibration is necessary for dual manipulator to complete operational tasks. This paper proposes an effective robot-robot and hand-eye calibration method based on virtual constraints. Firstly, a rotational error model and a translational error model are established based on the relationships between the transformation matrices of the dual manipulator calibration system. Then a poses-alignment method is designed to make the poses of the two robots satisfy the constructed virtual constraints. At the aligned positions, the joint angles of the two robots are saved and used to calculate the values of the variables in the error models. Finally, the robot-robot and hand-eye rotational errors are estimated by an iterative algorithm. These errors are then used to calculate translational errors based on the SVD (singular value decomposition) method. To show the feasibility and effectiveness of the proposed method, experiments of robot-robot and hand-eye calibration for dual manipulators are performed. The experiment results demonstrate that the accuracy of the dual manipulator system is improved greatly.

Słowa kluczowe

EN

dual manipulators; calibration; virtual constraint; optical axis; robot-robot; hand-eye

• Wydawca: Polska Akademia Nauk, Wydział IV Nauk Technicznych
• Czasopismo: Bulletin of the Polish Academy of Sciences. Technical Sciences
• Rocznik: 2019
• Tom: Vol. 67, nr 6
• Strony: 1149--1159
• Opis fizyczny: Bibliogr. 25 poz., rys., tab.

Twórcy

autor

Zhu Q.

• College of Automation, Harbin Engineering University, Harbin 150001, China

autor

Xie X.

• College of Automation, Harbin Engineering University, Harbin 150001, China

autor

Li C.

• College of Automation, Harbin Engineering University, Harbin 150001, China

Bibliografia

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Uwagi

PL

Opracowanie rekordu ze środków MNiSW, umowa Nr 461252 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2020).