Calibration for accuracy improvement of serial manipulators based on compressed sensing

Geometric errors are the main source of the positioning inaccuracy of robotic manipulators. A novel robot calibration approach is proposed based on compressed sensing to compensate the geometric errors. Simulation results validate that the proposed method improves the accuracy as well as reduces the...

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Bibliographic Details
Published in:Electronics letters 2015-05, Vol.51 (11), p.820-822
Main Author: Tan, N
Format: Article
Language:English
Subjects:
Calibration
Compressed
compressed sensing
Control engineering
Detection
geometric errors
Manipulators
position control
positioning inaccuracy
Robot arms
robotic manipulators
Robots
serial manipulators accuracy improvement
Serials
Simulation
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Description
Summary:Geometric errors are the main source of the positioning inaccuracy of robotic manipulators. A novel robot calibration approach is proposed based on compressed sensing to compensate the geometric errors. Simulation results validate that the proposed method improves the accuracy as well as reduces the calibration time.
ISSN:0013-5194
1350-911X
1350-911X
DOI:10.1049/el.2015.0427