Application of Screw Axis Identification Method for Serial Robot Calibration In The Service Robot
作者单位：Key Laboratory for Robot & Intelligent Technology of Shandong Province Shandong University of Science and Technology Institute of Automation Chinese Academy of Science
会议名称：《第25届中国控制与决策会议》
会议届次：25th
主办单位：IEEE;NE Univ;IEEE Ind Elect Chapter;IEEE Harbin Sect Control Syst Soc Chapter;Guizhou Univ;IEEE Control Syst Soc;Syst Engn Soc China;Chinese Assoc Artificial Intelligence;Chinese Assoc Automat;Tech Comm Control Theory;Chinese Assoc Aeronaut;Automat Control Soc;Chinese Assoc Syst Simulat;Simulat Methods & Modeling Soc;Intelligent Control & Management Soc
会议日期：2013年
学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 0811[工学-控制科学与工程]
基 金：supported by the National Nature Science Foundation of China (61273197) the Scientific Research Foundation for the Excellent Middle-Aged and Youth Scientists of Shandong Province (BS2012DX031) SDUST Research Fund (2010KYJQ105) the Project of Shandong Province Higher Educational Science, Technology Program (J11LG53) the Project of Science and Technology of Qingdao Economic and Technological Development Area (2011-2-46) Shandong University of Science and Technology Postgraduate Innovation Fund (YCA120358)
关 键 词：screw axis identification head-eye service robot
摘 要：A screw axis identification （SAI） method for serial robot calibration is applied in the service robot. The proposed method is newly introduced by Wang and can be operated easily. The self-designed service robot is a head-eye robot consisting of a binocular camera fixed on the head and two arms with four-degree of freedom. The binocular camera is used to calibrate the parameters of the arms joints. Then the kinematic model of the robot can be built by these parameters. Finally, by comparing the nominal angle values of the joints with the calculated values, a group of error values within 1 are achieved, which can meet the requirement of the further research of the robot about grabbing objects. Therefore, the SAI method which can automatically calibrate parameters has great efficiency and can be calibrated easily, which makes an identified contribution to the spreading of the robot application.