Abstract
In this paper, we propose an automatic approach for the online kinematic calibration of a planar 3RRR manipulator. This method utilizes a camera as the global sensor to measure pose of the end effector. After the visual measuring system obtains enough pose data, an algorithm based on the implicit model is performed for the kinematic calibration. Finally, the calibration result is sent to the controller to compensate the geometric model of the manipulator. All these mentioned steps are implemented automatically without human intervene. Experiment studies on a real system have shown the effectiveness and the convenience of the present method.
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Acknowledgments
This research was supported by the National Natural Science Foundation of China (Grant no. U1501247), the Scientific and Technological Research Project of Guangdong Province (2015B020239001), and the Scientific and Technological Research Project of Dongguang(Grant No.2015215119). These supports are greatly acknowledged.
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Li, H., Zhang, X., Zeng, L., Wu, H. (2017). Vision-Aided Online Kinematic Calibration of a Planar 3RRR Manipulator. In: Zhang, X., Wang, N., Huang, Y. (eds) Mechanism and Machine Science . ASIAN MMS CCMMS 2016 2016. Lecture Notes in Electrical Engineering, vol 408. Springer, Singapore. https://doi.org/10.1007/978-981-10-2875-5_79
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DOI: https://doi.org/10.1007/978-981-10-2875-5_79
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