Learning-based Kinematic Calibration using Adjoint Error Model

Nadia Schillreff, Frank Ortmeier

2018

Abstract

A learning-based robot kinematic calibration approach based on the product-of-exponentials (POE) formula and Adjoint error model is introduced. To ensure high accuracy this approach combines the geometrical and non-geometrical influences like for e.g. elastic deformations without explicitly defining all physical processes that contribute to them using a polynomial regression method. By using the POE formula for kinematic modeling of the manipulator it is ensured that kinematic parameters vary smoothly and used method is robust and singularity-free. The introduced error parameters are presented in the form of Adjoint transformations on nominal joint twists. The calibration process then becomes finding a set of polynomial functions using regression methods that are able to reflect the actual kinematics of the robot. The proposed method is evaluated on a dataset obtained using a 7-DOF manipulator (KUKA LBR iiwa 7 R800). The experimental results show that this approach significantly reduces positional errors of the robotic manipulator after calibration.

Paper Citation

in Harvard Style

Schillreff N. and Ortmeier F. (2018). Learning-based Kinematic Calibration using Adjoint Error Model.In Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-321-6, pages 372-379. DOI: 10.5220/0006870403720379

in Bibtex Style

@conference{icinco18,
author={Nadia Schillreff and Frank Ortmeier},
title={Learning-based Kinematic Calibration using Adjoint Error Model},
booktitle={Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2018},
pages={372-379},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006870403720379},
isbn={978-989-758-321-6},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Learning-based Kinematic Calibration using Adjoint Error Model
SN - 978-989-758-321-6
AU - Schillreff N.
AU - Ortmeier F.
PY - 2018
SP - 372
EP - 379
DO - 10.5220/0006870403720379