標題: Implementation of a variable D-H parameter model for robot calibration using an FCMAC learning algorithm
作者: Young, KY
Chen, JJ
電控工程研究所
Institute of Electrical and Control Engineering
關鍵字: robot calibration;variable D-H parameter model;FCMAC learning algorithm
公開日期: 1-四月-1999
摘要: Current robot calibration schemes usually employ calibration models with constant error parameters. Consequently, they are inevitably subject to a certain degree of locality, i.e., the calibrated error parameters (CEPs) will produce the desired accuracy only in certain regions of the robot workspace. To deal with the locality phenomenon, CEPs that vary in different regions of the robot workspace may be more appropriate. Hence, we propose a variable D-H (Denavit and Hartenberg) parameter model to formulate variations of CEPs. An FCMAC (Fuzzy Cerebellar Model Articulation Controller) learning algorithm is used to implement the proposed variable D-K parameter model. Simulations and experiments that verify the effectiveness of the proposed calibration scheme based on the variable D-H parameter model are described.
URI: http://dx.doi.org/10.1023/A:1008094014724
http://hdl.handle.net/11536/31419
ISSN: 0921-0296
DOI: 10.1023/A:1008094014724
期刊: JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
Volume: 24
Issue: 4
起始頁: 313
結束頁: 346
顯示於類別:期刊論文


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