Computationally efficient and robust kinematic calibration methodologies and their application to industrial robots
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- 作者：Temesguen Messaya ; tmessay1@udayton.edu" class="auth_mail" title="E-mail the corresponding author ; Raú ; l Ordó ; ñ ; eza ; rordonez1@udayton.edu" class="auth_mail" title="E-mail the corresponding author ; Eric Marcilb ; eric.marcil@motoman.com" class="auth_mail" title="E-mail the corresponding author
- 关键词：Kinematic calibration ; Optimization ; Simulated annealing ; Trust region ; CompuGauge ; MotoCal ; Industrial robots ; Yaskawa Motoman Robotics ; Inc
- 刊名：Robotics and Computer-Integrated Manufacturing
- 出版年：2016
- 出版时间：February 2016
- 年：2016
- 卷：37
- 期：Complete
- 页码：33-48
- 全文大小：1987 K
文摘
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Novel calibration frameworks that make use of 1D and 3D pose information.
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Frameworks that are competitive with or outperform the state-of-the-art commercial tool.
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Methodologies to deduce non-redundant and computationally efficient error models.
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Novel hybrid optimization scheme that combines Simulated Annealing and Trust Region.