Error Modeling in Distance and Rotation for Self-Calibration of Space Robots on Orbit
Joint Authors
Sun, Hanxu
Chen, Gang
Jia, Qingxuan
Wang, Shiwei
Source
International Journal of Aerospace Engineering
Issue
Vol. 2019, Issue 2019 (31 Dec. 2019), pp.1-16, 16 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2019-02-17
Country of Publication
Egypt
No. of Pages
16
Abstract EN
Vibration and impact of launching, inner and outer pressure difference, and thermal deformation of the space capsule will change the transformation between the pose measurement system and the space robot base.
It will be complicated, even hard, to measure and calculate this transformation accurately.
Therefore, an error modeling method considering both the distance error and the rotation error of the end-effector is proposed for self-calibration of the space robot on orbit, in order to avoid the drawback of frame transformation.
Moreover, according to linear correlation of the columns of the identification matrix, unrecognizable parameters in the distance and rotation error model are removed to eliminate singularity in robot kinematic calibration.
Finally simulation tests on a 7-DOF space robot are conducted to verify the effectiveness of the proposed method.
American Psychological Association (APA)
Jia, Qingxuan& Wang, Shiwei& Chen, Gang& Sun, Hanxu. 2019. Error Modeling in Distance and Rotation for Self-Calibration of Space Robots on Orbit. International Journal of Aerospace Engineering،Vol. 2019, no. 2019, pp.1-16.
https://search.emarefa.net/detail/BIM-1157040
Modern Language Association (MLA)
Jia, Qingxuan…[et al.]. Error Modeling in Distance and Rotation for Self-Calibration of Space Robots on Orbit. International Journal of Aerospace Engineering No. 2019 (2019), pp.1-16.
https://search.emarefa.net/detail/BIM-1157040
American Medical Association (AMA)
Jia, Qingxuan& Wang, Shiwei& Chen, Gang& Sun, Hanxu. Error Modeling in Distance and Rotation for Self-Calibration of Space Robots on Orbit. International Journal of Aerospace Engineering. 2019. Vol. 2019, no. 2019, pp.1-16.
https://search.emarefa.net/detail/BIM-1157040
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1157040