Multi-Parameter Based Calibration of Long-Link Flexible Manipulators

DOI

10.2991/ecae-17.2018.41How to use a DOI?

Keywords

flexible manipulator; calibration; structural deformation; absolute positioning accuracy

Abstract

Geometric parameters, reducer stiffness, and link flexibility have significant impacts on the absolute positioning accuracy of the terminals of long-link flexible manipulators. This paper introduces a multi-parameter based calibration method which can improve the absolute positioning accuracy. The experiment was carried out on a 7-DOF long-link flexible manipulator. The pre-analysis involved the stiffness of reducers, the deformation of flexible links, and other structural features of the manipulator. The calibration contained two important steps. The first step provided the approximations of the kinematic parameters and the reduction ratios. The second step focused on the parameter identification of a kinematic error model of the manipulator. This step could improve the accuracy of the kinematic parameters. A laser tracker was used to measure the positions of marked points on the manipulator before and after calibration. The comparison of the measurements obviously shows that the method can improve the absolute positioning accuracy of the manipulator.

Copyright

© 2018, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Zhao Liu
AU  - Libin Song
AU  - Xing Li
AU  - Bozhao Pan
AU  - Junzhang Yu
PY  - 2017/12
DA  - 2017/12
TI  - Multi-Parameter Based Calibration of Long-Link Flexible Manipulators
BT  - Proceedings of the 2017 2nd International Conference on Electrical, Control and Automation Engineering (ECAE 2017)
PB  - Atlantis Press
SP  - 196
EP  - 201
SN  - 2352-5401
UR  - https://doi.org/10.2991/ecae-17.2018.41
DO  - 10.2991/ecae-17.2018.41
ID  - Liu2017/12
ER  -