Open AccessCalibration for accuracy improvement of serial manipulators based on compressed sensing
Author(s) -
Tan N.
Publication year - 2015
Publication title -
electronics letters
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.375
H-Index - 146
eISSN - 1350-911X
pISSN - 0013-5194
DOI - 10.1049/el.2015.0427
Subject(s) - calibration , computer science , compressed sensing , computer vision , robot , artificial intelligence , robot calibration , serial manipulator , mathematics , robot kinematics , mobile robot , parallel manipulator , statistics
Geometric errors are the main source of the positioning inaccuracy of robotic manipulators. A novel robot calibration approach is proposed based on compressed sensing to compensate the geometric errors. Simulation results validate that the proposed method improves the accuracy as well as reduces the calibration time.