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A svd-least-square algorithm for manipulator kinematic calibration based on the product of exponentials formula

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Abstract

In recent years, a great deal of research is conducted to improve the accuracy of manipulator kinematic calibration of which the product of exponential formula (PoE) is used to represent the manipulator kinematics, whose purpose is to solve the singularity problem of the Denavit-Hartenberg (D-H) parameters. However, the noise sensibility is still an open problem since a matrix inverse calculation of Jacobian matrix is inevitable during the process of solving the kinematic-linearized-equations to obtain the calibrated parameters. This problem may causes non-convergence, or low-accurate solution of calibration algorithm if the environmental noises and the error of endeffector’s actual frame measurement techniques are considerable. This paper presents a kinematic calibration method using singular value decomposition least square algorithm based on the product of exponentials formula (SVD-PoE-least-squares algorithm) to improve the accuracy of calibrated parameters. The proposed algorithm is evaluated in simulation level using a 6-DOF puma 560-type manipulator. The obtained results have shown that SVD-PoE-least-square algorithm is insignificantly affected by environmental noises, and, the proposed method can complete the robot calibration with respect to the work frame directly.

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Authors and Affiliations

  1. School of Mechanical Engineering, Hanoi University of Science and Technology, 1 Dai Co Viet, Hanoi, Vietnam

    Nguyen Van Toan & Phan Bui Khoi

Authors
  1. Nguyen Van Toan
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  2. Phan Bui Khoi
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Corresponding author

Correspondence to Phan Bui Khoi.

Additional information

Recommended by Associate Editor Joonbum Bae

Nguyen Van Toan received the B.S. degree in mechatronics from Center for Training of Excellent Students, Hanoi University of Science and Technology, in 2014. He researched at Korea Institute of Science and Technology, Seoul, Korea. His current research interests include robotics, fuzzy control, expert knowledge, artificial intelligence, hedge algebras, and genetic algorithm.

Phan Bui Khoi received his Doctorate degree in Robotics from Mechanical Engineering Research Institute of the Russian Academy of Sciences in 1997. He is Assoc. Professor of dynamics and control of robot and mechatronic systems at Hanoi University of Science and Technology. His current research, which focuses on robots applying in mechanical engineering and service, is concerned with dynamics of serial, parallel and cooperate robots, force control, fuzzy control; control of robots and mechatronic systems basing on artificial intelligence, hedge algebras and genetic algorithm.

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Van Toan, N., Khoi, P.B. A svd-least-square algorithm for manipulator kinematic calibration based on the product of exponentials formula. J Mech Sci Technol 32, 5401–5409 (2018). https://doi.org/10.1007/s12206-018-1038-3

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  • DOI: https://doi.org/10.1007/s12206-018-1038-3

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