Abstract
The paper considers problems of calibration of kinematic (geometric) parameters of multilink manipulators. The structure of developed method is described. Calibration procedure is similar to conventional method of robot tool center point calculating. Data from sensors of joints angles of multilink manipulator are used. This data corresponds rotation angles when end effector of robot reaches points of the same surface with different orientation. The end effector move to surface points can be done in automatic or manual mode by means of tech pedant. The proposed method can be used without complex and expensive equipment for external measurement of position and orientation of end effector in base coordinate system. Above surface can be produced by means of 3D printing. Problems of proposed method implementation are considered.
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This work is supported by Russian Science Foundation (grant 22-19-00392).
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Gubankov, A., Yukhimets, D., Filaretov, V., Yuan, C. (2022). Geometric Parameters Calibration Method for Multilink Manipulators. In: Huang, DS., Jo, KH., Jing, J., Premaratne, P., Bevilacqua, V., Hussain, A. (eds) Intelligent Computing Methodologies. ICIC 2022. Lecture Notes in Computer Science(), vol 13395. Springer, Cham. https://doi.org/10.1007/978-3-031-13832-4_8
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