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Authors: Nadia Schillreff and Frank Ortmeier

Affiliation: Chair of Software Engineering, Otto-von-Guericke-University Magdeburg and Germany

ISBN: 978-989-758-321-6

Keyword(s): Modeling, Parameter Identification, Product of Exponentials (POE).

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Machine Learning in Control Applications ; Modeling, Simulation and Architectures ; Robotics and Automation

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 reduc es positional errors of the robotic manipulator after calibration. (More)

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Paper citation in several formats:
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: 10.5220/0006870403820389

@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={10.5220/0006870403820389},
isbn={978-989-758-321-6},
}

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 - 10.5220/0006870403820389

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