In order to realize high precision industrial operations,based on the POE formula,an effective approach to calibrate the robot's actual base frame(ABF) is proposed. Due to the existence of manufacturing errors,the...In order to realize high precision industrial operations,based on the POE formula,an effective approach to calibrate the robot's actual base frame(ABF) is proposed. Due to the existence of manufacturing errors,the ABF deviates slightly from nominal base frame( NBF). Using external precision measurement,the ABF can be established only through the three dimension(3D) position of the robot's end-effector.To ensure the orthonormal constraints of rotation matrix as well as the precise solutions,Procrustes Analysis is introduced,where an optimal orthogonal matrix is solved out by the Lagrange Multiplier method and Singular Value Decomposition(SVD). Furthermore,calibration experiment on a serial 6-DOF robot is performed,where a FARO laser tracker is utilized to measure the 3D position. Finally, calibration result indicates that the positioning accuracy has been significantly improved after calibration. The calibration method is also applicable to other similar problems,such as multi-robot coordination and robot hand-eye system calibration.展开更多
Motivation Nowadays,big data,deep-learning models,optimization methods,and computational power are essential elements in promoting the development of artificial intelligence.Recent advances have brought a new focus on...Motivation Nowadays,big data,deep-learning models,optimization methods,and computational power are essential elements in promoting the development of artificial intelligence.Recent advances have brought a new focus on generative artificial intelligence(GenAI),which paves promising paths to exploring the creation of texts,images,videos,or other content rather than simply performing discriminative learning tasks.展开更多
基金Sponsored by the Applied Major Research Program of Science and Technology Commission Foundation of Beijing(Grant No.141100003514003)
文摘In order to realize high precision industrial operations,based on the POE formula,an effective approach to calibrate the robot's actual base frame(ABF) is proposed. Due to the existence of manufacturing errors,the ABF deviates slightly from nominal base frame( NBF). Using external precision measurement,the ABF can be established only through the three dimension(3D) position of the robot's end-effector.To ensure the orthonormal constraints of rotation matrix as well as the precise solutions,Procrustes Analysis is introduced,where an optimal orthogonal matrix is solved out by the Lagrange Multiplier method and Singular Value Decomposition(SVD). Furthermore,calibration experiment on a serial 6-DOF robot is performed,where a FARO laser tracker is utilized to measure the 3D position. Finally, calibration result indicates that the positioning accuracy has been significantly improved after calibration. The calibration method is also applicable to other similar problems,such as multi-robot coordination and robot hand-eye system calibration.
基金NSFC 62306326 and dedicated to NUDT’s 70th anniversary.
文摘Motivation Nowadays,big data,deep-learning models,optimization methods,and computational power are essential elements in promoting the development of artificial intelligence.Recent advances have brought a new focus on generative artificial intelligence(GenAI),which paves promising paths to exploring the creation of texts,images,videos,or other content rather than simply performing discriminative learning tasks.
