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A Robot Calibration Method Based on Joint Angle Division and an Artificial Neural Network
المؤلفون المشاركون
Wang, Yuxiang
Mao, Chentao
Wang, Zhirong
Chen, Zhangwei
Hang, Qiang
المصدر
Mathematical Problems in Engineering
العدد
المجلد 2019، العدد 2019 (31 ديسمبر/كانون الأول 2019)، ص ص. 1-12، 12ص.
الناشر
Hindawi Publishing Corporation
تاريخ النشر
2019-03-04
دولة النشر
مصر
عدد الصفحات
12
التخصصات الرئيسية
الملخص EN
Robot calibration is used to improve the accuracy of the kinematic model to achieve the higher positioning accuracy within the workspace.
Due to some nongeometrical reasons such as joint and link flexibility, the errors are unevenly distributed in the workspace.
In this case, it is difficult for the existing methods used to improve the absolute positioning accuracy to achieve good results in each region, especially for robots with large self-weights.
In this paper, a novel calibration method is proposed, which deals with joint deflection dependent errors to enhance the robot positioning accuracy in the whole workspace.
Firstly, the joint angle workspace is divided into several local regions according to the mass distribution of the robot.
Then, its geometric parameters are modeled and identified using the Denavit–Hartenberg (DH) model in each region and in the whole workspace separately.
Since the nongeometric error sources are difficult to model correctly, an artificial neural network (ANN) is applied to compensate for the nongeometric errors.
Finally, the experiments using an 8 degree-of-freedom (DOF) engineering robot are conducted to demonstrate the validity of the proposed method.
The combination of the joint angle division and ANN could be an effective solution for the robot calibration, especially for one with a large self-weight.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Wang, Zhirong& Chen, Zhangwei& Wang, Yuxiang& Mao, Chentao& Hang, Qiang. 2019. A Robot Calibration Method Based on Joint Angle Division and an Artificial Neural Network. Mathematical Problems in Engineering،Vol. 2019, no. 2019, pp.1-12.
https://search.emarefa.net/detail/BIM-1198058
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Wang, Zhirong…[et al.]. A Robot Calibration Method Based on Joint Angle Division and an Artificial Neural Network. Mathematical Problems in Engineering No. 2019 (2019), pp.1-12.
https://search.emarefa.net/detail/BIM-1198058
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Wang, Zhirong& Chen, Zhangwei& Wang, Yuxiang& Mao, Chentao& Hang, Qiang. A Robot Calibration Method Based on Joint Angle Division and an Artificial Neural Network. Mathematical Problems in Engineering. 2019. Vol. 2019, no. 2019, pp.1-12.
https://search.emarefa.net/detail/BIM-1198058
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references
رقم السجل
BIM-1198058
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
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