التفاصيل البيبلوغرافية
| العنوان: |
Using Full Pose Measurement for Serial Robot Calibration |
| المؤلفون: |
Marek Franaszek, Jeremy A. Marvel |
| المصدر: |
Applied Sciences; Volume 12; Issue 7; Pages: 3680 |
| بيانات النشر: |
Multidisciplinary Digital Publishing Institute |
| سنة النشر: |
2022 |
| المجموعة: |
MDPI Open Access Publishing |
| مصطلحات موضوعية: |
robot calibration, robot remastering, calibration uncertainty, part probing, uncertainty reduction, sensor feedback |
| جغرافية الموضوع: |
agris |
| الوصف: |
To ensure smooth robot operations, parameters of its kinematic model and a registration transformation between robot base and world coordinate frame must be determined. Both tasks require data acquired by external sensors that can measure either 3D locations or full 6D poses. We show that use of full pose measurements leads to much smaller robot orientation errors when compared with the outcome of calibration and registration procedures based on 3D data only. Robot position errors are comparable for both types of data. The conclusion is based on extensive simulations of 7 degrees of freedom robot arm and different levels of pseudo-noise perturbing both positional and rotational components of pose. |
| نوع الوثيقة: |
text |
| وصف الملف: |
application/pdf |
| اللغة: |
English |
| Relation: |
Robotics and Automation; https://dx.doi.org/10.3390/app12073680 |
| DOI: |
10.3390/app12073680 |
| الاتاحة: |
https://doi.org/10.3390/app12073680 |
| Rights: |
https://creativecommons.org/licenses/by/4.0/ |
| رقم الانضمام: |
edsbas.3C8923BF |
| قاعدة البيانات: |
BASE |