KFU. Card publication. Humanoid robot kinematic calibration using industrial manipulator

KAZAN
FEDERAL UNIVERSITY

- RUS
- 中文
- ES

HUMANOID ROBOT KINEMATIC CALIBRATION USING INDUSTRIAL MANIPULATOR

Form of presentation

Conference proceedings in international journals and collections

Year of publication

2017

Язык

английский

Authors, employees of KFU

Magid Evgeniy Arkadevich, author

Bibliographic description in the original language

Khusainov R., Klimchik A., Magid E. Humanoid robot kinematic calibration using industrial manipulator // ICMSC 2017 - International Conference on Mechanical, System and Control Engineering (St.Petersburg, Russia; 19-21 May 2017) - p. 184-189.

Annotation

2017 International Conference on Mechanical, System and Control Engineering

Keywords

humanoid, calibration, AR601M, KUKA IIWA, industrial manipulator

The name of the journal

2017 International Conference on Mechanical, System and Control Engineering

URL

https://ieeexplore.ieee.org/document/7959468

Please use this ID to quote from or refer to the card

https://repository.kpfu.ru/eng/?p_id=257528&p_lang=2

Resource files

File name	Size (MB)	Format
F_2017__umanoid_robot_kinematic_calibration_using_industrial_manipulator.pdf	0,54	pdf	show / download

Full metadata record

Field DC	Value	Language
dc.contributor.author	Magid Evgeniy Arkadevich	ru_RU
dc.date.accessioned	2017-01-01T00:00:00Z	ru_RU
dc.date.available	2017-01-01T00:00:00Z	ru_RU
dc.date.issued	2017	ru_RU
dc.identifier.citation	Khusainov R., Klimchik A., Magid E. Humanoid robot kinematic calibration using industrial manipulator // ICMSC 2017 - International Conference on Mechanical, System and Control Engineering (St.Petersburg, Russia; 19-21 May 2017) - p. 184-189.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/eng/?p_id=257528&p_lang=2	ru_RU
dc.description.abstract	2017 International Conference on Mechanical, System and Control Engineering	ru_RU
dc.description.abstract	Kinematic calibration is a crucial task for humanoid robot locomotion. The paper proposes a novel technique for joint offset calibration using industrial manipulator. Corresponding procedure uses position and orientation data from the manipulator and requires fixing of robots bases and end-effectors with respect to each other. The full pose information is obtaining as the humanoid limbs are moved through predefined configurations. To find joint offsets the least-squares optimization problem is solved. The proposed method is accurate since the industrial manipulator provides high precision. The proposed approach was validated on the calibration of AR601M humanoid robot using Kuka iiwa 14 industrial manipulator.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	humanoid	ru_RU
dc.subject	calibration	ru_RU
dc.subject	AR601M	ru_RU
dc.subject	KUKA IIWA	ru_RU
dc.subject	industrial manipulator	ru_RU
dc.title	Humanoid robot kinematic calibration using industrial manipulator	ru_RU
dc.type	Conference proceedings in international journals and collections	ru_RU