AUTONOMOUS CALIBRATION OF SINGLE-LOOP CLOSED KINEMATIC CHAINS FORMED BY MANIPULATORS WITH PASSIVE END-POINT CONSTRAINTS
AUTONOMOUS CALIBRATION OF SINGLE-LOOP CLOSED KINEMATIC CHAINS FORMED BY MANIPULATORS WITH PASSIVE END-POINT CONSTRAINTS
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DOI：
10.1109/70.97871
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发表时间：
1991-10-01
期刊：
影响因子：
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通讯作者：
HOLLERBACH, JM
中科院分区：
文献类型：
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作者：
BENNETT, DJ;HOLLERBACH, JM
串行连杆机械臂在与环境相互作用时，如果其在末端的任务自由度是冗余的，则可以形成一个移动的闭合运动链。如果移动闭链具有多种构型，则环路一致性方程允许仅使用关节角度读数同时校准机械手和任务运动学；不需要端点感知。示例任务包括固定端点（0-DOF任务）、开门（1-DOF任务）和点接触（3-DOF任务）。为这些不同的任务导出了可识别性条件。
A serial-link manipulator may form a mobile closed kinematic chain when interacting with the environment, if it is redundant with respect to the task degrees of freedom (DOF's) at the endpoint. If the mobile closed chain assumes a number of configurations, then loop consistency equations permit the manipulator and task kinematics to be calibrated simultaneously using only the joint angle readings; endpoint sensing is not required. Example tasks include a fixed endpoint (0-DOF task), the opening of a door (1-DOF task), and point contact (3-DOF task). Identifiability conditions are derived for these various tasks.