Kinematic calibration and accuracy compensation method for embodied intelligent disinfection robot
Improving the positioning accuracy and real-time performance of disinfection robots are important prerequisites for achieving embodied intelligence, which is crucial to achieve a high sterilization rate of pathogenic microorganism, and can provide a strong guarantee for the health and safety of hosp...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | zho |
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POSTS&TELECOM PRESS Co., LTD
2025-03-01
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| Series: | 智能科学与技术学报 |
| Subjects: | |
| Online Access: | http://www.cjist.com.cn/thesisDetails#10.11959/j.issn.2096-6652.202507 |
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| _version_ | 1849691598034567168 |
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| author | CHENG Jun FAN Weilong SHAO Jinyan ZHOU Xuemei |
| author_facet | CHENG Jun FAN Weilong SHAO Jinyan ZHOU Xuemei |
| author_sort | CHENG Jun |
| collection | DOAJ |
| description | Improving the positioning accuracy and real-time performance of disinfection robots are important prerequisites for achieving embodied intelligence, which is crucial to achieve a high sterilization rate of pathogenic microorganism, and can provide a strong guarantee for the health and safety of hospitals, funeral homes and other places. Therefore, a method for kinematics calibration and accuracy compensation of disinfection robot is proposed. First, a modeling method of kinematic model and error model based on screw theory is proposed. Second, the moving region is divided and the feature point data is sampled. Third, an error identification algorithm based on least square method is proposed, and the identification is realized by sampling data. Finally, the positioning error is compensated to the end position of the robot, and the accuracy compensation is realized. The correctness of the proposed method is verified by simulation experiments. The kinematic calibration and accuracy compensation method proposed can greatly improve the positioning accuracy of disinfection robot while ensuring real-time performance, enhance the level of robot's embodied intelligence, and provide a strong guarantee for improving the killing rate of germs and realizing reliable prevention of special places. |
| format | Article |
| id | doaj-art-2a3696aa48824edf8f762fd48b0ca104 |
| institution | DOAJ |
| issn | 2096-6652 |
| language | zho |
| publishDate | 2025-03-01 |
| publisher | POSTS&TELECOM PRESS Co., LTD |
| record_format | Article |
| series | 智能科学与技术学报 |
| spelling | doaj-art-2a3696aa48824edf8f762fd48b0ca1042025-08-20T03:20:59ZzhoPOSTS&TELECOM PRESS Co., LTD智能科学与技术学报2096-66522025-03-017778590694122Kinematic calibration and accuracy compensation method for embodied intelligent disinfection robotCHENG JunFAN WeilongSHAO JinyanZHOU XuemeiImproving the positioning accuracy and real-time performance of disinfection robots are important prerequisites for achieving embodied intelligence, which is crucial to achieve a high sterilization rate of pathogenic microorganism, and can provide a strong guarantee for the health and safety of hospitals, funeral homes and other places. Therefore, a method for kinematics calibration and accuracy compensation of disinfection robot is proposed. First, a modeling method of kinematic model and error model based on screw theory is proposed. Second, the moving region is divided and the feature point data is sampled. Third, an error identification algorithm based on least square method is proposed, and the identification is realized by sampling data. Finally, the positioning error is compensated to the end position of the robot, and the accuracy compensation is realized. The correctness of the proposed method is verified by simulation experiments. The kinematic calibration and accuracy compensation method proposed can greatly improve the positioning accuracy of disinfection robot while ensuring real-time performance, enhance the level of robot's embodied intelligence, and provide a strong guarantee for improving the killing rate of germs and realizing reliable prevention of special places.http://www.cjist.com.cn/thesisDetails#10.11959/j.issn.2096-6652.202507kinematic calibrationaccuracy compensationdisinfection robotscrew theoryerror model |
| spellingShingle | CHENG Jun FAN Weilong SHAO Jinyan ZHOU Xuemei Kinematic calibration and accuracy compensation method for embodied intelligent disinfection robot 智能科学与技术学报 kinematic calibration accuracy compensation disinfection robot screw theory error model |
| title | Kinematic calibration and accuracy compensation method for embodied intelligent disinfection robot |
| title_full | Kinematic calibration and accuracy compensation method for embodied intelligent disinfection robot |
| title_fullStr | Kinematic calibration and accuracy compensation method for embodied intelligent disinfection robot |
| title_full_unstemmed | Kinematic calibration and accuracy compensation method for embodied intelligent disinfection robot |
| title_short | Kinematic calibration and accuracy compensation method for embodied intelligent disinfection robot |
| title_sort | kinematic calibration and accuracy compensation method for embodied intelligent disinfection robot |
| topic | kinematic calibration accuracy compensation disinfection robot screw theory error model |
| url | http://www.cjist.com.cn/thesisDetails#10.11959/j.issn.2096-6652.202507 |
| work_keys_str_mv | AT chengjun kinematiccalibrationandaccuracycompensationmethodforembodiedintelligentdisinfectionrobot AT fanweilong kinematiccalibrationandaccuracycompensationmethodforembodiedintelligentdisinfectionrobot AT shaojinyan kinematiccalibrationandaccuracycompensationmethodforembodiedintelligentdisinfectionrobot AT zhouxuemei kinematiccalibrationandaccuracycompensationmethodforembodiedintelligentdisinfectionrobot |