Samak, Samoil and Dimovski, Igor and Trompeska , Mirjana and Dukovski, Vladimir (2016) Avoiding heavy computations in inverse calibration procedure for 7 DOF robot manipulator. Journal of Electrical Engineering and Informatiоn Technologies, 1 (2). ISSN 2545–4250
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Abstract
Procedure for determining commanded coordinates in machine space if desired coordinates are
given is inverse calibration. A large amount of data is considered after measurement procedure and it is essential to
locate desired point in the real space which is skewed due to measured geometric errors. The machine workspace is
divided to cells using measurement points. It is depicted the importance of finding the proper cell in skewed 3D lat-
tice, for calibration of translational axes of ATL machine with large workspace. To calibrate 7 DOF robot manipula-
tor, this algorithm is extended. The problem of finding the proper cell in 7D skewed grid needs heavy computations
and takes significant amount of computational time. Few ideas for avoiding these computations are described and the
influence on the final precision of the calibration procedure is explored.
| Item Type: | Article |
|---|---|
| Subjects: | Natural sciences > Computer and information sciences Natural sciences > Matematics Engineering and Technology > Materials engineering Engineering and Technology > Mechanical engineering |
| Divisions: | Faculty of Technology |
| Depositing User: | Svetlana Risteska |
| Date Deposited: | 15 Sep 2020 07:27 |
| Last Modified: | 15 Sep 2020 07:27 |
| URI: | https://eprints.ugd.edu.mk/id/eprint/24442 |
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