Geometric Parameter Identification of a 6-DOF Space Robot Using a Laser-Ranger
Joint Authors
Liu, Yu
Xu, Wenfu
Liu, Hong
Jiang, Zainan
Source
Issue
Vol. 2012, Issue 2012 (31 Dec. 2012), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2012-05-14
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
The geometric parameters of a space robot change with the terrible temperature change in orbit, which will cause the end-effector pose (position and orientation) error of a space robot, and so weakens its operability.
With this in consideration, a new geometric parameter identification method is presented based on a laser-ranger attached to the end-effector.
Then, independence of the geometric parameters is analyzed, and their identification equations are derived.
With the derived identification Jacobian matrix, the optimal identification configurations are chosen according to the observability index O3.
Subsequently, through simulation the geometric parameter identification of a 6-DOF space robot is implemented for these identification configurations, and the identified parameters are verified in a set of independent reference configurations.
The result shows that in spite of distance measurement alone, pose accuracy of the space robot still has a greater improvement, so the identification method is practical and valid.
American Psychological Association (APA)
Liu, Yu& Jiang, Zainan& Liu, Hong& Xu, Wenfu. 2012. Geometric Parameter Identification of a 6-DOF Space Robot Using a Laser-Ranger. Journal of Robotics،Vol. 2012, no. 2012, pp.1-11.
https://search.emarefa.net/detail/BIM-483040
Modern Language Association (MLA)
Liu, Yu…[et al.]. Geometric Parameter Identification of a 6-DOF Space Robot Using a Laser-Ranger. Journal of Robotics No. 2012 (2012), pp.1-11.
https://search.emarefa.net/detail/BIM-483040
American Medical Association (AMA)
Liu, Yu& Jiang, Zainan& Liu, Hong& Xu, Wenfu. Geometric Parameter Identification of a 6-DOF Space Robot Using a Laser-Ranger. Journal of Robotics. 2012. Vol. 2012, no. 2012, pp.1-11.
https://search.emarefa.net/detail/BIM-483040
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-483040