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Supervised by Ministry of Industry and Information Technology of The People''s Republic of China Sponsored by Harbin Institute of Technology Editor-in-chief Yu Zhou ISSNISSN 1005-9113 CNCN 23-1378/T

Related citation:Xiaoshan Gao,Gang Wang,Chao Yun,Daxian Hao.A Calibration Method of Robot Base Frame with Procrustes Analysis[J].Journal of Harbin Institute Of Technology(New Series),2017,24(6):67-72.DOI:10.11916/j.issn.1005-9113.16095.
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A Calibration Method of Robot Base Frame with Procrustes Analysis
Xiaoshan Gao1, Gang Wang2, Chao Yun1,Daxian Hao1
(1.School of Mechanical Engineering & Automation, Beihang University, Beijing 100191, China;2.School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, China)
In order to realize high precision industrial operations, based on the POE formula, an effective approach to calibrate the robot's actual base frame (ABF) is proposed. Due to the existence of manufacturing errors, the ABF deviates slightly from nominal base frame (NBF).Using external precision measurement, the ABF can be established only through the three dimension (3D) position of the robot's end-effector.To ensure the orthonormal constraints of rotation matrix as well as the precise solutions, Procrustes Analysis is introduced, where an optimal orthogonal matrix is solved out by the Lagrange Multiplier method and Singular Value Decomposition (SVD). Furthermore, calibration experiment on a serial 6-DOF robot is performed, where a FARO laser tracker is utilized to measure the 3D position. Finally, calibration result indicates that the positioning accuracy has been significantly improved after calibration. The calibration method is also applicable to other similar problems, such as multi-robot coordination and robot hand-eye system calibration.
Key words:  base frame  calibration  Procrustes Analysis  orthogonality
Clc Number:TP242
Descriptions in Chinese:



(1北京航空航天大学 机械工程及自动化学院,北京 100191;

2北京邮电大学 自动化学院,北京 100876)



关键词:基坐标系;标定;Procrustes分析; 正交性