Kinematic model calibration of a collaborative redundant robot using a closed kinematic chain.

Autor: Petrič T; Department of Automatics, Biocybernetics and Robotics, Jožef Stefan Institute, Jamova cesta 39, 1000, Ljubljana, Slovenia. tadej.petric@ijs.si., Žlajpah L; Department of Automatics, Biocybernetics and Robotics, Jožef Stefan Institute, Jamova cesta 39, 1000, Ljubljana, Slovenia.
Jazyk: angličtina
Zdroj: Scientific reports [Sci Rep] 2023 Oct 18; Vol. 13 (1), pp. 17804. Date of Electronic Publication: 2023 Oct 18.
DOI: 10.1038/s41598-023-45156-6
Abstrakt: In this paper, we propose a novel approach for the kinematic calibration of collaborative redundat robots, focusing on improving their precision using a cost-effective and efficient method. We exploit the redundancy of the closed-loop kinematic chain by utilizing a spherical joint, enabling precise definition of the robot end-effector position while maintaining free joint motion in the null space. Leveraging the availability of joint torque sensors in most collaborative robots, we employ a kinesthetic approach to obtain constrained joint motion for calibration. An optimization approach is utilized to determine the optimal kinematic parameters based on measured joint positions and a constrained end-effector position defined by the spherical joint. The effectiveness of the proposed method is demonstrated and validated on the Franka Emika Panda robot, a 7-DoF robot. Results indicate a significant enhancement in absolute accuracy, with comparable performance to more expensive sensor systems such as optical measurement systems. Our approach offers a practical and cost-effective solution for improving the precision of collaborative robots.
(© 2023. Springer Nature Limited.)
Databáze: MEDLINE
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