Simultaneous Identification of Kinematic Screw and Joint Compliance of Elastic Robot Manipulators using Deflected Circular Trajectories

Youngsu Cho; Munyu Kim; Joono Cheong; Hyunmin Do; Jinho Kyung

doi:10.1109/AIM.2017.8014047

Simultaneous Identification of Kinematic Screw and Joint Compliance of Elastic Robot Manipulators using Deflected Circular Trajectories

Youngsu Cho
, Munyu Kim
, Joono Cheong
, Hyunmin Do
, Jinho Kyung

Korea University (SEJONG)

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

3 Citations (Scopus)

Abstract

In this paper, a new kinematic parameter calibration method is proposed for robot manipulators having elastic joints. Kinematic screw and compliance parameters are identified through the proposed calibration procedure, so that an enhanced kinematic accuracy is achieved. Traditional circular point analysis is modified to cope with new productof- exponential (POE) kinematic model that accounts for joint deflection. Simulation result is provided to validate the proposed kinematic calibration method.

Original language	English
Title of host publication	2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	382-387
Number of pages	6
ISBN (Electronic)	9781509059980
DOIs	https://doi.org/10.1109/AIM.2017.8014047
Publication status	Published - 2017 Aug 21
Event	2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 - Munich, Germany Duration: 2017 Jul 3 → 2017 Jul 7

Publication series

Name	IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Conference

Conference	2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
Country/Territory	Germany
City	Munich
Period	17/7/3 → 17/7/7

Bibliographical note

Publisher Copyright:
© 2017 IEEE.

ASJC Scopus subject areas

Electrical and Electronic Engineering
Control and Systems Engineering
Computer Science Applications
Software

Access to Document

10.1109/AIM.2017.8014047

Cite this

Cho, Y., Kim, M., Cheong, J., Do, H., & Kyung, J. (2017). Simultaneous Identification of Kinematic Screw and Joint Compliance of Elastic Robot Manipulators using Deflected Circular Trajectories. In 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 (pp. 382-387). Article 8014047 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2017.8014047

Simultaneous Identification of Kinematic Screw and Joint Compliance of Elastic Robot Manipulators using Deflected Circular Trajectories. / Cho, Youngsu; Kim, Munyu; Cheong, Joono et al.
2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 382-387 8014047 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Cho, Y, Kim, M, Cheong, J, Do, H & Kyung, J 2017, Simultaneous Identification of Kinematic Screw and Joint Compliance of Elastic Robot Manipulators using Deflected Circular Trajectories. in 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017., 8014047, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, Institute of Electrical and Electronics Engineers Inc., pp. 382-387, 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017, Munich, Germany, 17/7/3. https://doi.org/10.1109/AIM.2017.8014047

Cho Y, Kim M, Cheong J, Do H, Kyung J. Simultaneous Identification of Kinematic Screw and Joint Compliance of Elastic Robot Manipulators using Deflected Circular Trajectories. In 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 382-387. 8014047. (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). doi: 10.1109/AIM.2017.8014047

Cho, Youngsu ; Kim, Munyu ; Cheong, Joono et al. / Simultaneous Identification of Kinematic Screw and Joint Compliance of Elastic Robot Manipulators using Deflected Circular Trajectories. 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 382-387 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM).

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abstract = "In this paper, a new kinematic parameter calibration method is proposed for robot manipulators having elastic joints. Kinematic screw and compliance parameters are identified through the proposed calibration procedure, so that an enhanced kinematic accuracy is achieved. Traditional circular point analysis is modified to cope with new productof- exponential (POE) kinematic model that accounts for joint deflection. Simulation result is provided to validate the proposed kinematic calibration method.",

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Simultaneous Identification of Kinematic Screw and Joint Compliance of Elastic Robot Manipulators using Deflected Circular Trajectories

Abstract

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