TY - GEN
T1 - A Method for Calibration and Compensation of Kinematic Parameters for Recycling Robot in Nuclear Power Plant
AU - Han, Zhe
AU - Pan, Yue
AU - Zhang, Yilin
AU - Liu, Chenghua
AU - Meng, Fansheng
AU - Duan, Xingguang
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/9/28
Y1 - 2020/9/28
N2 - The robot in this paper is used to recycle detector components in nuclear power plant. Due to the large volume and weight of the robot, factors such as deformation of key components, machining, assembling and so on will affect its positioning accuracy. The positioning device of the recycling robot will be described in detail, which can realize the positioning of any point in the operating space of the detector components. In order to improve the accuracy of the positioning device and ensure the reliability of the operation tool, the kinematics model of the positioning system which composed of the positioning device and the operation tool is performed, and the first-order linear error model at the measurement point is derived using the full differential method. The Leica laser tracker was used to perform the kinematics model parameter calibration experiment, and the least square method was used to optimize and update the DH parameters in the model. The experimental results show that the optimized kinematics model has its maximum positioning error and average positioning error reduced, respectively 98.96% and 96.16%.
AB - The robot in this paper is used to recycle detector components in nuclear power plant. Due to the large volume and weight of the robot, factors such as deformation of key components, machining, assembling and so on will affect its positioning accuracy. The positioning device of the recycling robot will be described in detail, which can realize the positioning of any point in the operating space of the detector components. In order to improve the accuracy of the positioning device and ensure the reliability of the operation tool, the kinematics model of the positioning system which composed of the positioning device and the operation tool is performed, and the first-order linear error model at the measurement point is derived using the full differential method. The Leica laser tracker was used to perform the kinematics model parameter calibration experiment, and the least square method was used to optimize and update the DH parameters in the model. The experimental results show that the optimized kinematics model has its maximum positioning error and average positioning error reduced, respectively 98.96% and 96.16%.
UR - http://www.scopus.com/inward/record.url?scp=85099380356&partnerID=8YFLogxK
U2 - 10.1109/RCAR49640.2020.9303324
DO - 10.1109/RCAR49640.2020.9303324
M3 - Conference contribution
AN - SCOPUS:85099380356
T3 - 2020 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2020
SP - 171
EP - 176
BT - 2020 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2020
Y2 - 28 September 2020 through 29 September 2020
ER -