Kinematic calibration of over-constrained robot with geometric error and internal deformation
Mechanism and Machine Theory（2023）
摘要
•General nonlinear calibration framework of robot based on POE formula.•Geometric error model of over-constrained robot considering internal deformation.•Explicit interaction between internal deformation and geometric errors.•Pose errors decrease by about 95% after calibration in a 5-DOF hybrid robot.
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关键词
Internal deformation, Kinematic calibration, Over -constrained robot, Geometric error, Least action principle
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