On the comparison of model-based and modeless robotic calibration based on the fuzzy interpolation technique

Yin Bai, H. Zhuang
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引用次数: 11

Abstract

Traditional robot calibrations implement model-based and modeless methods. The calibration of position error in model-based method implements four steps: kinematic model definition of the robot, measurement process of the robot's positions, identification of the kinematic model of the robot and compensation of the position errors. This method is both time consuming and complicated because of the identification and compensation processes. Most traditional modeless methods are relatively simple and practical, but the calibration accuracy is relatively low and most of them are only suitable for the robots calibration in 2D domain and in relative small workspaces. This paper provides a novel modeless fuzzy interpolation method to improve the compensation accuracy for the robots calibration in 3D workspace. A comparison between the model-based and modeless fuzzy interpolation calibration method is made. The simulated results show that the modeless fuzzy interpolation calibration method is compatible with the model-based calibration method, and even outperforms a model-based counterpart in terms of accuracy and complexity in small workspaces.
基于模糊插值技术的基于模型与无模型机器人标定的比较
传统的机器人标定采用基于模型和非模型的方法。基于模型方法的位置误差标定实现了机器人运动学模型的定义、机器人位置的测量过程、机器人运动学模型的识别和位置误差的补偿四个步骤。该方法耗时长,且辨识和补偿过程复杂。传统的非模态方法大多比较简单实用,但标定精度较低,且大多只适用于二维空间和相对较小的工作空间的机器人标定。为了提高机器人三维工作空间标定的补偿精度,提出了一种新的非模态模糊插值方法。对基于模型和无模型的模糊插值标定方法进行了比较。仿真结果表明,非模态模糊插值校准方法与基于模型的校准方法兼容,在小工作空间的精度和复杂度上都优于基于模型的校准方法。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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