Robust kinematic calibration for improving collaboration accuracy of dual-arm manipulators with experimental validation

•A scheme of collaborative accuracy is established for calibration of dual-arm robots.•Orientation accuracy is guaranteed by minimizing the maximum distance error.•Robustness of calibration procedure is enhanced by minimax searching.•Experimental comparisons validate the superiority of the proposed...

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Veröffentlicht in:	Measurement : journal of the International Measurement Confederation Jg. 155; S. 107524
Hauptverfasser:	Mao, Chentao, Li, Shuai, Chen, Zhangwei, Zhang, Xiang, Li, Chao
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	London Elsevier Ltd 01.04.2020 Elsevier Science Ltd
Schlagworte:	Algorithms Calibration Collaborative accuracy Computational geometry Convexity Dual-arm manipulators Kinematic calibration Kinematics Minimax technique Optimization Quadratic programming Relative accuracy Robustness Search algorithms Robustness Dual-arm manipulators Relative accuracy Kinematic calibration Collaborative accuracy
ISSN:	0263-2241, 1873-412X
Online-Zugang:	Volltext
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