Paper Info
Title
A Method of Robot Base Frame Calibration by Using Dual Quaternion Algebra.
Abstract
When the robot is required to execute a certain task in the world coordinate system (WCS), it is necessary to find the coordinate transformation between the robot base coordinate system (RBCS) and WCS to enable the high precision motion planning. This paper presents a simple and accurate method that allows a simultaneous computation of the coordinate transformations (i.e., rotation and translation) from WCS to RBCS. Based on the dual quaternion, the robot kinematic model and formulas for calculating the transformation are derived, which allow calculating the rotation and translation simultaneously. Taking the unit dual quaternion as a constraint, the Lagrangian multiplier method is employed to obtain the optimum transformation. Both simulation and experiment results show that higher calibration precision is obtained. The proposed approach has certain reference value and guiding sense for other calibration problems.
Year
DOI
Venue
2018
10.1109/ACCESS.2018.2882502
IEEE ACCESS
Keywords
Field
DocType
Calibration,coordinate transformation,robot base coordinate system,world coordinate system,dual quaternion
Coordinate system,Motion planning,Kinematics,Dual quaternion,Computer science,Lagrange multiplier,Quaternion,Algorithm,Robot kinematics,Robot,Distributed computing
Journal
Volume
ISSN
Citations 
6
2169-3536
0
PageRank 
References 
Authors
0.34
0
3
Name
Order
Citations
PageRank
Gang Wang134497.03
Xiaoping Liu2134.70
Song Han355354.94