More research results in different application fields appear in the literature, such as bio-robot and building structure . The ability to capture actions is closely related to real-time capabilities in the system with high accuracy . Motion capture system has been a widely researched topic over the past few decades, with applications in many industries. Interestingly, the identified joint angle is in close proximity to that obtained by the control system of the calibration robot. The identification results including 3 invariants are close to the accuracy of the laser tracker. Both simulation and experiment of a six revolute joint robot are conducted to verify the effectiveness and efficiency of the method. After optimally fitting the rotation matrix and the translation vector of each joint according to the singular value decomposition, the joint axis vectors and DH parameters can be reconstructed in the recurrence way. Different from the traditional method of obtaining measurement information from the end effector of a robot, multiple markers pasted on a robot each joint are identified and tracked by a motion capture system to obtain the 3-D coordinates of markers of each joint in every frame when the robot is being moved continuously. This method is based on the motion capture system as a measuring instrument, which can measure and identify the robot’s movements in any feasible domain. This article introduces a new kinematic identification approach for serial robots using a motion capture system in the recurrence way.
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