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Kinematic Calibration of Modular Reconfigurable Robots Using Product-of- Exponentials Formula

机译：使用指数乘积公式对模块化可重构机器人进行运动学校准

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摘要

A modular reconfigurable robot system is a collection of individual link and joint components that can be assembled into different robot geometries for specific task requirements. However, the machining tolerance and assembly errors at the module interconnections affect the positioning accuracy of the end-effector. This article describes a novel kinematic calibration algorithm for modular robots based on recursive forward dyad kinematics. The forward kinematic model derived from the Product-of-Exponentials formula is configuration independent. The error correction parameters are assumed to be in the relative initial positions of the dyads. Two calibration models, namely the six- and seven-parameter methods, are derived on the grounds of the linear superposition principle and differential transformation. An iterative least square algorithm is employed for the calibration solution. Two simulation examples of calibrating a three-module manipulator and a 4-DOF SCARA type manipulator are demonstrated. The result has shown that the average positioning accuracy of the end-effector increases two orders of magnitude after the calibration.
机译：模块化可重新配置的机器人系统是各个链接和关节组件的集合，这些组件可以组装成不同的机器人几何形状，以满足特定的任务要求。但是，模块互连处的加工公差和组装错误会影响末端执行器的定位精度。本文介绍了一种基于递归正向二元运动学的模块化机器人运动学标定算法。从指数乘积公式得出的正向运动学模型与配置无关。假设纠错参数位于双体的相对初始位置。基于线性叠加原理和微分变换，推导了两种校准模型，即六参数方法和七参数方法。迭代最小二乘算法用于校准溶液。演示了校准三个模块机械手和一个4-DOF SCARA型机械手的两个仿真示例。结果表明，校准后，末端执行器的平均定位精度提高了两个数量级。

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