Paper Info
Title
A Plane Projection Based Method for Base Frame Calibration of Cooperative Manipulators
Abstract
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.
Year
DOI
Venue
2019
10.1109/TII.2018.2878248
IEEE Transactions on Industrial Informatics
Keywords
DocType
Volume
Calibration,Manipulators,Mathematical model,Sensors,Instruments,Floors,Informatics
Journal
15
Issue
ISSN
Citations 
3
1551-3203
0
PageRank 
References 
Authors
0.34
0
6
Name
Order
Citations
PageRank
Jin Wang1648.39
Wei Wang200.68
Chao-Hua Wu300.34
Si-Lu Chen48915.74
Jian-Hui Fu500.34
Guodong Lu66814.74