한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)
- 제11권5호
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- Pages.88-97
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- 1994
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- 1225-9071(pISSN)
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- 2287-8769(eISSN)
Product-of-Exponentials 공식을 기초로 한 기구학적 보정 방법
Kinematic Calibration and the Product of Exponentials Formula
초록
We persent a method for kinematic calibration of open chain mechanisms based on the product of exponentials (POE) formula. The POE formula represents the forward kinematics of an open chain as a product of matrix exponentials, and is based on a modern geometric interpretation of classical screw theory. Unlike the kinematic parameters in the POE formula vary smoothly with changes in the joint axes;ad hoc methods designed to address the inherent singularities in the D-H parameters are therefore are therefore unnecessary. After introducing the POE formula, we derive a least-squares kinematic calibration algorithm for general open chain mechanisms. Simulation results with a 6-axis open chain are presented.
키워드