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- W4253475607 abstract "The link parameters of a manipulator are the most important factors affecting its absolute positioning accuracy. Due to the redundancy of the 7 degrees-of-freedom (DOF) manipulator, there are multiple sets of inverse kinematics solutions for the manipulator, which increases the difficulty in the calibration process. This paper proposed a parameter compensation method to calibrate the Denavit-Hartenberg (DH) parameters of a 7-DOF manipulator. By analyzing the geometry structure of the manipulator, some redundant parameters could be removed to guarantee the convergence of the calibration. Before calibration, the mean and root-mean-square (RMS) position errors of the 7-DOF manipulator were 2.9402 mm and 3.3644 mm, and the mean and RMS orientation errors were 0.0082° and 0.0091°, respectively. After calibration, the mean and RMS position errors were reduced to 0.2166 mm and 0.2559 mm, and the mean and RMS orientation errors were reduced to 0.0012° and 0.0014°, respectively. It was demonstrated that the proposed parameter compensation method was effective in the kinematics calibration of the 7-DOF manipulator." @default.
- W4253475607 created "2022-05-12" @default.
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- W4253475607 date "2021-10-22" @default.
- W4253475607 modified "2023-10-17" @default.
- W4253475607 title "A Parameter Compensation Method for the Kinematics Calibration of a 7-DOF Manipulator Using Laser Tracker" @default.
- W4253475607 doi "https://doi.org/10.1109/cac53003.2021.9727957" @default.
- W4253475607 hasPublicationYear "2021" @default.
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