机器人2017，Vol.39Issue(2)：151-159,9.DOI:10.13973/j.cnki.robot.2017.0151
基于MCPC模型的机器宇航员运动学参数标定方法与实验
Calibration Method and Experiments of Kinematic Parameters for Robonaut Based on MCPC Model
摘要
Abstract
A robonaut kinematic calibration method based on MCPC (modified complete and parametrically continuous) model is proposed. On the basis of the analysis on the robonaut joint and link flexibility, a composite error model considering both geometric error and flexibility error is established using the MCPC method. And then, a robonaut kinematic parameter calibration method is proposed. Experimental results show that the proposed calibration method can eliminate the influence of flexible factors on kinematic parameter calibration and obtain accurate kinematic parameters, and can effectively improve the operation precision of robonaut.关键词
机器宇航员/误差模型/运动学参数标定Key words
robonaut/error model/kinematic parameter calibration分类
信息技术与安全科学引用本文复制引用
陈钢,王蕾,贾庆轩,孙汉旭,王仕卫..基于MCPC模型的机器宇航员运动学参数标定方法与实验[J].机器人,2017,39(2):151-159,9.基金项目
国家自然科学基金(61403038) （61403038）
国家973计划(2013CB733000). （2013CB733000）
