A Self-calibration Method for Mobile Manipulator
With the development of the mobile manipulator, it is needed to have a calibration method suits for ordinary people to improve its absolute position accuracy of the manipulator when the structure is worn. The method should be cheap, convinence and should do not rely on any professional equipment or external measurement. This paper proposes a self-calibration method that not only inherits the above advantages, but also is not affected by the convected motion caused by the shifting of the mobile platform. The basic idea is that when the endpoint of the manipulator reaches the specified target point in different configurations, if the gravity moment of the manipulator with respect to the platform remains basically unchanged, the shift of the platform and the influence of the convected motion can be neglected. By discretizing the target points in Cartesian space, grouping the data based on these target points, and combining the nonlinear least squares method, the parameters of the kinematic model can be optimized. Finally, the effectiveness of the proposed method is verified by different methods including the use of the laser tracker. The absolute position error of the flange center at the end of the manipulator is reduced from 2.25 mm to 0.42 mm.
KeywordsMobile manipulator Self-calibration Absolute position accuracy
This work is supported by the Special Research Foundation of Civil Aircraft of Ministry of Industry and Information Technology of China (No. MJ-2017-G-58) and the High-tech Industrialization Special Fund Project for Science and Technology Cooperation of Jilin Province and Chinese Academy of Sciences (No. 20170925006).
- 5.Hayati, S.A.: Robot arm geometric link parameter estimation. In: The 22nd IEEE Conference on Decision and Control, pp. 1477–1483. IEEE (1983)Google Scholar
- 8.Khokar, K., Alqasemi, R., Sarkar, S., Reed, K., Dubey, R.: A novel telerobotic method for human-in-the-loop assisted grasping based on intention recognition. In: 2014 IEEE International Conference on Robotics and Automation (ICRA), pp. 4762–4769. IEEE (2014)Google Scholar
- 12.Zhang, X., Zheng, Z., Qi, Y.: Parameter identification and calibration of DH model for 6-DOF serial robots. Robot 38(3), 360–370 (2016)Google Scholar
- 13.Zhuang, H., Motaghedi, S.H., Roth, Z.S.: Robot calibration with planar constraints. In: Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No. 99CH36288C), vol. 1, pp. 805–810. IEEE (1999)Google Scholar