Unlock instant, AI-driven research and patent intelligence for your innovation.

Calibration method of robot deformable manipulator parameters

A parameter calibration and manipulator technology, which is applied in the direction of instruments, measuring devices, surveying and navigation, etc., can solve the problems of increasing manipulator load, low bearable load, bloated manipulator, etc., and achieve the effect of simplifying the construction process

Active Publication Date: 2016-12-07
NANKAI UNIV
View PDF3 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The disadvantage is that loading the monocular camera makes the manipulator more bloated and increases the load on the manipulator, which brings inconvenience to the manipulator to perform tasks
Moreover, the operating arm of the home service robot is small in size and can bear a low load, so it cannot be loaded with a monocular camera

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Calibration method of robot deformable manipulator parameters
  • Calibration method of robot deformable manipulator parameters
  • Calibration method of robot deformable manipulator parameters

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0128] Step 1. Give the method of measuring the position and attitude of the manipulator with the monocular camera;

[0129] This deformable manipulator includes 4 joints and 2 deformable links. Marker 0, marker 3, and marker 4 are attached to the base of the operating arm, joint 3, and joint 4 respectively, and the numbers of the markers match the corresponding joints; marker 1 and marker 2 do not exist. A monocular camera can recognize the position and pose of the marker block.

[0130] Step 2, D-H model of deformable manipulator (Denavit-Hartenberg model)

[0131] Such as figure 1 As shown, the D-H parameter model is established, and the DH parameter table is obtained: see Table 3.

[0132] Table 3, DH parameter list

[0133]

[0134] Step 3, Constructing the Deformable Arm Constraint Equations

[0135] First, construct a set of constraint equations for parameter calibration 1

[0136] monocular camera can get and can be requested

[0137]

[0138] where q ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a method applied to parameter calibration of a deformable robot operation arm and aims to solve the task of recalibrating the self parameter of the deformable robot operation arm after the shape of the deformable robot operation arm is changed. The method comprises the following steps: firstly showing an optimization method for measuring position and posture of the operation arm by a monocular camera; then building a D-H model of the deformable operation arm; and finally constructing a constraint equation of the parameter of the deformable operation arm, solving and correcting the parameter. The conventional operation arm parameter calibration method is high in cost, complicated to operate and unsuitable for the deformable robot operation arm parameter calibration task oriented to a variety of services. The calibration method provided by the invention is capable of quickly and accurately carrying out the task of calibrating the deformable operation arm after the shape is changed; simulation and experiment show that the method is simple and practical, and is robust to noise.

Description

technical field [0001] The invention belongs to the technical field of robot manipulation arm calibration, in particular to a calibration method of a deformable manipulation arm. Background technique [0002] As we all know, the parameter calibration of the robot manipulator itself is an effective method to improve the precision of the manipulator. After obtaining the precise parameters of the manipulator arm itself, the accuracy of the forward kinematics and inverse kinematics of the manipulator arm will be improved accordingly, thereby improving the operating precision of the manipulator arm. Most of the current manipulator parameter calibration methods are applied to rigid manipulators whose physical structure will not change. For the novel deformable manipulator, due to its own physical structure and shape will change, the traditional calibration method applied to the rigid manipulator is no longer applicable. [0003] The connecting rod of the deformable operating arm...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): G01C11/00
CPCG01C11/00
Inventor 刘景泰郝洁卢翔李高峰孙雷
Owner NANKAI UNIV