TY - GEN
T1 - Self-calibration of a Stewart parallel robot with a laserranger
AU - Liu, Yu
AU - Liu, Hong
AU - Ni, Fenglei
AU - Xu, Wenfu
AU - Han, Feng
PY - 2010
Y1 - 2010
N2 - In order to overcome influence of kinematic parameter errors on end-effector pose (position and orientation) accuracy of the Stewart parallel robot, a new self-calibration method with a laserranger fixed on the mobile platform is presented. Firstly, a new calibration scheme is proposed and the direct kinematic model of the parallel robot is built. Then the distance error model is derived, and the objective function of calibration is given. Subsequently, an improved differential evolution algorithm (DE) is adopted to identify the kinematic parameters. At last, simulation is made in a set of validation positions to verify the above calibration method. The results show that after calibration pose accuracy of the parallel robot has a significant improvement. At the same time, the strong stochastic search ability of DE is validated.
AB - In order to overcome influence of kinematic parameter errors on end-effector pose (position and orientation) accuracy of the Stewart parallel robot, a new self-calibration method with a laserranger fixed on the mobile platform is presented. Firstly, a new calibration scheme is proposed and the direct kinematic model of the parallel robot is built. Then the distance error model is derived, and the objective function of calibration is given. Subsequently, an improved differential evolution algorithm (DE) is adopted to identify the kinematic parameters. At last, simulation is made in a set of validation positions to verify the above calibration method. The results show that after calibration pose accuracy of the parallel robot has a significant improvement. At the same time, the strong stochastic search ability of DE is validated.
KW - Stewart parallel robot
KW - differential evolution
KW - error model
KW - laserranger
UR - https://www.scopus.com/pages/publications/78650459493
U2 - 10.1007/978-3-642-16584-9_55
DO - 10.1007/978-3-642-16584-9_55
M3 - 会议稿件
AN - SCOPUS:78650459493
SN - 3642165834
SN - 9783642165832
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 570
EP - 581
BT - Intelligent Robotics and Applications - Third International Conference, ICIRA 2010, Proceedings
T2 - 3rd International Conference on Intelligent Robotics and Applications, ICIRA 2010
Y2 - 10 November 2010 through 12 November 2010
ER -