Geometric Parameter Identification of a 6-DOF Space Robot Using a Laser-Ranger
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 pre...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2012-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2012/587407 |
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| _version_ | 1850105055908200448 |
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| author | Yu Liu Zainan Jiang Hong Liu Wenfu Xu |
| author_facet | Yu Liu Zainan Jiang Hong Liu Wenfu Xu |
| author_sort | Yu Liu |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-403b75e8a03d4e2b82b1fc6c4e54c969 |
| institution | DOAJ |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2012-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-403b75e8a03d4e2b82b1fc6c4e54c9692025-08-20T02:39:12ZengWileyJournal of Robotics1687-96001687-96192012-01-01201210.1155/2012/587407587407Geometric Parameter Identification of a 6-DOF Space Robot Using a Laser-RangerYu Liu0Zainan Jiang1Hong Liu2Wenfu Xu3State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, ChinaState Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, ChinaState Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, ChinaMechanical Engineering and Automation, Harbin Institute of Technology Shenzhen Graduate School, Shenzhen 518057, ChinaThe 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.http://dx.doi.org/10.1155/2012/587407 |
| spellingShingle | Yu Liu Zainan Jiang Hong Liu Wenfu Xu Geometric Parameter Identification of a 6-DOF Space Robot Using a Laser-Ranger Journal of Robotics |
| title | Geometric Parameter Identification of a 6-DOF Space Robot Using a Laser-Ranger |
| title_full | Geometric Parameter Identification of a 6-DOF Space Robot Using a Laser-Ranger |
| title_fullStr | Geometric Parameter Identification of a 6-DOF Space Robot Using a Laser-Ranger |
| title_full_unstemmed | Geometric Parameter Identification of a 6-DOF Space Robot Using a Laser-Ranger |
| title_short | Geometric Parameter Identification of a 6-DOF Space Robot Using a Laser-Ranger |
| title_sort | geometric parameter identification of a 6 dof space robot using a laser ranger |
| url | http://dx.doi.org/10.1155/2012/587407 |
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