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- Title
Calibration Optimization of Kinematics and Dynamics for Delta Robot Driven by Integrated Joints in Machining Task.
- Authors
Jiang, Zhenhua; Wang, Yu; Liu, Dongdong; Sun, Tao
- Abstract
For the application of Delta robots with a 3-R(RPaR) configuration in machining tasks, this paper constructed a 54-parameter kinematic error model and a simplified dynamic model incorporating an integrated joint's position error and friction, respectively. Utilizing Singular Value Decomposition (SVD) of the Linear Model Coefficient Matrix (LMCM) and the coefficient chart, a criterion for identifiability of error components is established. For good identification results, the optimal measurement surface with Fourier series form is obtained using a combination of the Hook–Jeeves Direct Search Algorithm (DSA) and Inner Point Method (IPM). The friction coefficients and other dynamic parameters are obtained through fitting the integrated joint torque-angle pairs measured along specific trajectories using nonlinear least squares regression. The validation of the calibration process is conducted through simulations and experiments. The calibration results provide a foundation for the precise control of integrated joints and the high-precision motion of robots.
- Subjects
INDUSTRIAL robots; ROBOT dynamics; KINEMATICS; SINGULAR value decomposition; ROBOT motion; CALIBRATION; FRICTION
- Publication
Actuators, 2024, Vol 13, Issue 6, p219
- ISSN
2076-0825
- Publication type
Article
- DOI
10.3390/act13060219