Kinematic calibration of serial robot using dual quaternions
Kinematic calibration of serial robot using dual quaternions
复制标题
使用双四元数的串行机器人运动学标定
DOI：
10.1108/ir-10-2018-0221
复制
发表时间：
2019-01-01
影响因子：
1.8
通讯作者：
Wang, Shuguo
中科院分区：
文献类型：
--
作者：
Li, Guozhi;Zhang, Fuhai;Wang, Shuguo
目的-本文的目的是提出一种基于对偶四元数的串联机器人运动学标定误差模型。设计/方法/途径对偶四元数是对偶数论和四元数代数的结合，这意味着它们可以表示空间变换。对偶四元数能简洁有效地表示螺旋位移，因此可用于串联机器人的运动学分析。本文从运动学正解方程出发，利用对偶四元数代数推导出误差模型。完整的姿态测量被认为是适用于串行机器人的误差模型，通过使用徕卡地理系统绝对跟踪器（AT 960）和跟踪器机器控制（T-MAC）probes.Findings两个运动参数识别算法来自所提出的误差模型的基础上双四元数，他们可以用于串行机器人校准。误差模型在运动学分析中采用Denavit-Hartenberg（DH）表示法，使运动学参数具有直观的几何意义。绝对跟踪系统可以测量的位置和方向的末端执行器（EE），同时通过使用T-MAC。独创性/价值的误差模型制定的双四元数代数包含所有的基本几何参数的串联机器人在运动学标定过程中。对偶四元数误差向量可以作为机器人EE在标称值和实际值之间误差变化趋势的指标。在机器人SDA 5 F上进行了近20次的实验，提高了EE的精度。仿真和实验验证了误差模型和标定算法的有效性。
Purpose The purpose of this paper is to propose an error model for serial robot kinematic calibration based on dual quaternions.Design/methodology/approach The dual quaternions are the combination of dual-number theory and quaternion algebra, which means that they can represent spatial transformation. The dual quaternions can represent the screw displacement in a compact and efficient way, so that they are used for the kinematic analysis of serial robot. The error model proposed in this paper is derived from the forward kinematic equations via using dual quaternion algebra. The full pose measurements are considered to apply the error model to the serial robot by using Leica Geosystems Absolute Tracker (AT960) and tracker machine control (T-MAC) probe.Findings Two kinematic-parameter identification algorithms are derived from the proposed error model based on dual quaternions, and they can be used for serial robot calibration. The error model uses Denavit-Hartenberg (DH) notation in the kinematic analysis, so that it gives the intuitive geometrical meaning of the kinematic parameters. The absolute tracker system can measure the position and orientation of the end-effector (EE) simultaneously via using T-MAC.Originality/value The error model formulated by dual quaternion algebra contains all the basic geometrical parameters of serial robot during the kinematic calibration process. The vector of dual quaternion error can be used as an indicator to represent the trend of error change of robot's EE between the nominal value and the actual value. The accuracy of the EE is improved after nearly 20 measurements in the experiment conduct on robot SDA5F. The simulation and experiment verify the effectiveness of the error model and the calibration algorithms.