Calibration of Modular Reconfigurable Robots Based on a Hybrid Search Method-Reference-Cited by-同舟云学术

Calibration of Modular Reconfigurable Robots Based on a Hybrid Search Method

Published:2010-10-15 Issue:6 Volume:132 Page:
ISSN:1087-1357
Container-title:Journal of Manufacturing Science and Engineering
language:en
Short-container-title:

Author:

Lin Yu¹,Xi Fengfeng¹,Mohamed Richard Phillip¹,Tu Xiao-wei²

Affiliation:

1. Department of Aerospace Engineering, Ryerson University, Toronto, ON, M5B 2K3, Canada

2. Department of Aerospace Engineering, Ryerson University, Toronto, ON, M5B 2K3, Canada; Aerospace Manufacturing Technology Center, National Research Council Canada, Montreal, QC, H3T 2B2, Canada

Abstract

Developed in this paper is a hybrid method for calibration of modular reconfigurable robots (MRRs). The underlying problem under study is unique to MRRs, that is, how to calibrate a set of MRR’s geometric parameters that are applicable to all feasible configurations. For this reason, a hybrid search method is developed to ensure a global search over the MRRs’ workspace for each feasible configuration. By combining a genetic algorithm method with a Monte Carlo method, this method includes three levels of search, namely, pose, workspace, and configuration-space. The final set of global solutions is generated progressively from the results of these three levels of search. The effectiveness of this method is demonstrated through a case study.

Publisher

ASME International

Subject

Industrial and Manufacturing Engineering,Computer Science Applications,Mechanical Engineering,Control and Systems Engineering

Link

http://asmedigitalcollection.asme.org/manufacturingscience/article-pdf/doi/10.1115/1.4002586/5502988/061002_1.pdf

Reference28 articles.

1. Chhabra, R. , 2008, “Concurrent Design of Reconfigurable Robots Using a Robotic Hardware-in-the-Loop Simulation,” MS thesis, University of Toronto, Toronto, ON.

2. Kinematic Model and Metrology System for Modular Robot Calibration;Kang

3. An Overview of Robot Calibration;Roth;IEEE J. Rob. Autom.

4. The Calibration Index and Taxonomy for Robot Kinematic Calibration Methods;Hollerbach;Int. J. Robot. Res.

Cited by 9 articles. 订阅此论文施引文献订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献

1. Configuration selection for tip-over stability of a modular reconfigurable mobile manipulator under various application situations;Robotica;2022-10-14

2. A Rapid Accuracy Compensation Method for Modular Reconfigurable Robot after Reconfiguration;2021 9th International Conference on Control, Mechatronics and Automation (ICCMA);2021-11-11

3. POE-Based Parameter Calibration for Industrial Robots Considering Joint Compliance;2021 5th International Conference on Robotics and Automation Sciences (ICRAS);2021-06-11

4. Robots in machining;CIRP Annals;2019

5. An Innovative Error Measuring Method for Modular Interfaces of Modular Reconfigurable Robots;Proceedings of the 3rd International Conference on Robotics, Control and Automation - ICRCA '18;2018