An implicit loop method for kinematic calibration and its application to closed-chain mechanisms
An implicit loop method for kinematic calibration and its application to closed-chain mechanisms
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DOI：
10.1109/70.466613
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发表时间：
1995-10
期刊：
影响因子：
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通讯作者：
C. Wampler;J. Hollerbach;T. Arai
中科院分区：
文献类型：
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作者：
C. Wampler;J. Hollerbach;T. Arai
提出了一种统一的串行连杆机器人和具有运动闭环的机器人机构标定公式，并将其实验应用于两个6自由度装置：RSI 6-DOF手动控制器和MEL“改进Stewart平台”。这种统一是基于末端执行器测量和运动回路闭合所施加的约束之间的等价性。该方法将误差分配给各关节，使各环方程得到精确满足，消除了方程缩放问题，简化了多环机构的处理。在这里报告的实验中，没有使用外部测量设备；相反，我们依靠测量设备的一些被动关节的位移。该方法利用测量误差和参数误差统计量的先验估计，估计参数及其精度，并对未建模的因素进行检验。>
A unified formulation for the calibration of both serial-link robots and robotic mechanisms having kinematic closed-loops is presented and applied experimentally to two 6-degree-of-freedom devices: the RSI 6-DOF hand controller and the MEL "modified Stewart platform". The unification is based on an equivalence between end-effector measurements and constraints imposed by the closure of kinematic loops. Errors are allocated to the joints such that the loop equations are satisfied exactly, which eliminates the issue of equation scaling and simplifies the treatment of multi-loop mechanisms. For the experiments reported here, no external measuring devices are used; instead we rely on measurements of displacements in some of the passive joints of the devices. Using a priori estimates of the statistics of the measurement errors and the parameter errors, the method estimates the parameters and their accuracy, and tests for unmodeled factors. >