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首页> 外文期刊>IEEE transactions on industrial informatics >A Plane Projection Based Method for Base Frame Calibration of Cooperative Manipulators
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A Plane Projection Based Method for Base Frame Calibration of Cooperative Manipulators

机译：基于平面投影的协作机械手基架标定方法

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摘要

Base frame calibration is the foundation for the cooperative work of manipulators. The commonly applied method usually constructed a matrix equation. The contact-mode approach is limited by the insufficient accuracy and efficiency while the high cost impedes the application of methods with the noncontact mode. In this paper, a projection-based method is proposed. All the transformation parameters can be solved based on the geometric constraints. When cooperative manipulators form the closed-chain asynchronously, the topological structure is projected into a particular plane. The rotation angle and translation parameters can be determined with utilization of trigonometric functions and a simple calculation process. The greatest novel feature of this analysis is that only two calibration points are required. The experiment result shows that both the accuracy and efficiency can be much better in the asynchronous calibration.
机译：底架校准是机械手协同工作的基础。常用的方法通常构造一个矩阵方程。接触模式方法受到精度和效率不足的限制，而高昂的成本阻碍了非接触模式方法的应用。本文提出了一种基于投影的方法。可以根据几何约束条件求解所有变换参数。当协作操纵器异步形成闭链时，拓扑结构将投影到特定平面中。旋转角和平移参数可以利用三角函数和简单的计算过程来确定。该分析的最大新颖之处在于仅需要两个校准点。实验结果表明，在异步标定中，精度和效率都可以更好。

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