scholarly journals Reduced Error Model for Learning-based Calibration of Serial Manipulators

2020 ◽  
Author(s):  
Nadia Schillreff ◽  
Frank Ortmeier
Keyword(s):  
Error Model ◽  
Serial Manipulators

An improved kinematic calibration method for serial manipulators based on POE formula

Robotica ◽  
2018 ◽  
Vol 36 (8) ◽  
pp. 1244-1262 ◽  
Author(s):  
Chenguang Chang ◽  
Jinguo Liu ◽  
Zhiyu Ni ◽  
Ruolong Qi
Keyword(s):  
High Precision ◽  
Least Square Method ◽  
Calibration Method ◽  
Error Model ◽  
Least Square ◽  
Identification Accuracy ◽  
Kinematic Calibration ◽  
Serial Manipulators ◽  
Serial Robots ◽  
Generic Modeling

SUMMARYExisting measurement equipments easily determine position with high precision. However, they evaluate orientation with low precision. It is necessary to minimize the effect of measurement error on identification accuracy. In this study, a method for kinematic calibration based on the product of exponentials (POE) is presented to improve the absolute positioning accuracy of a sliding manipulator. An error model with uniform and generic modeling rules is established in which the tool frame is selected as the reference frame. Furthermore, the redundant parameters of the error model are removed. Subsequently, the actual kinematic parameters are identified by using the least square method. Finally, the process of the improved method is discussed. Kinematic calibration simulations of a sliding manipulator are implemented. The results indicate that the proposed method significantly improves the precision of the sliding manipulator. The improved POE kinematic calibration method offers convenience, efficiency, and high precision. The proposed method can be applied to all types of serial robots with n-DOF

Cancelable Biometric System for face Based on linear minimum mean square error Model.

2019 ◽  
Vol 28 (1) ◽  
pp. 145-152
Author(s):  
Abd El-aziz Ebrahim Hsaneen ◽  
EL-Sayed M. El-Rabaei ◽  
Moawad I. Dessouky ◽  
Ghada El-bamby ◽  
Fathi E. Abd El-Samie ◽  
...  
Keyword(s):  
Mean Square Error ◽  
Minimum Mean Square Error ◽  
Error Model ◽  
Mean Square ◽  
Biometric System

Kinematic calibration of a 3-PRRU parallel manipulator based on the complete, minimal and continuous error model

2021 ◽  
Vol 71 ◽  
pp. 102158
Author(s):  
Lingyu Kong ◽  
Genliang Chen ◽  
Hao Wang ◽  
Guanyu Huang ◽  
Dan Zhang
Keyword(s):  
Parallel Manipulator ◽  
Error Model ◽  
Kinematic Calibration

A Frequency Domain Error Model for Local 2D-DIC

2021 ◽  
Author(s):  
Z. Wang ◽  
K. Kang ◽  
Z Wang ◽  
H. Wu ◽  
S. Wang ◽  
...  
Keyword(s):  
Frequency Domain ◽  
Error Model
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