Error Modeling in Distance and Rotation for Self-Calibration of Space Robots on Orbit
Vibration and impact of launching, inner and outer pressure difference, and thermal deformation of the space capsule will change the transformation between the pose measurement system and the space robot base. It will be complicated, even hard, to measure and calculate this transformation accurately...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2019-01-01
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| Series: | International Journal of Aerospace Engineering |
| Online Access: | http://dx.doi.org/10.1155/2019/8349048 |
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| _version_ | 1832560479962136576 |
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| author | Qingxuan Jia Shiwei Wang Gang Chen Hanxu Sun |
| author_facet | Qingxuan Jia Shiwei Wang Gang Chen Hanxu Sun |
| author_sort | Qingxuan Jia |
| collection | DOAJ |
| description | Vibration and impact of launching, inner and outer pressure difference, and thermal deformation of the space capsule will change the transformation between the pose measurement system and the space robot base. It will be complicated, even hard, to measure and calculate this transformation accurately. Therefore, an error modeling method considering both the distance error and the rotation error of the end-effector is proposed for self-calibration of the space robot on orbit, in order to avoid the drawback of frame transformation. Moreover, according to linear correlation of the columns of the identification matrix, unrecognizable parameters in the distance and rotation error model are removed to eliminate singularity in robot kinematic calibration. Finally simulation tests on a 7-DOF space robot are conducted to verify the effectiveness of the proposed method. |
| format | Article |
| id | doaj-art-842a265fe01849b880206bc2ea2bf58b |
| institution | Kabale University |
| issn | 1687-5966 1687-5974 |
| language | English |
| publishDate | 2019-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | International Journal of Aerospace Engineering |
| spelling | doaj-art-842a265fe01849b880206bc2ea2bf58b2025-02-03T01:27:30ZengWileyInternational Journal of Aerospace Engineering1687-59661687-59742019-01-01201910.1155/2019/83490488349048Error Modeling in Distance and Rotation for Self-Calibration of Space Robots on OrbitQingxuan Jia0Shiwei Wang1Gang Chen2Hanxu Sun3Automation School, Beijing University of Posts and Telecommunications, Beijing 100876, ChinaAutomation School, Beijing University of Posts and Telecommunications, Beijing 100876, ChinaAutomation School, Beijing University of Posts and Telecommunications, Beijing 100876, ChinaAutomation School, Beijing University of Posts and Telecommunications, Beijing 100876, ChinaVibration and impact of launching, inner and outer pressure difference, and thermal deformation of the space capsule will change the transformation between the pose measurement system and the space robot base. It will be complicated, even hard, to measure and calculate this transformation accurately. Therefore, an error modeling method considering both the distance error and the rotation error of the end-effector is proposed for self-calibration of the space robot on orbit, in order to avoid the drawback of frame transformation. Moreover, according to linear correlation of the columns of the identification matrix, unrecognizable parameters in the distance and rotation error model are removed to eliminate singularity in robot kinematic calibration. Finally simulation tests on a 7-DOF space robot are conducted to verify the effectiveness of the proposed method.http://dx.doi.org/10.1155/2019/8349048 |
| spellingShingle | Qingxuan Jia Shiwei Wang Gang Chen Hanxu Sun Error Modeling in Distance and Rotation for Self-Calibration of Space Robots on Orbit International Journal of Aerospace Engineering |
| title | Error Modeling in Distance and Rotation for Self-Calibration of Space Robots on Orbit |
| title_full | Error Modeling in Distance and Rotation for Self-Calibration of Space Robots on Orbit |
| title_fullStr | Error Modeling in Distance and Rotation for Self-Calibration of Space Robots on Orbit |
| title_full_unstemmed | Error Modeling in Distance and Rotation for Self-Calibration of Space Robots on Orbit |
| title_short | Error Modeling in Distance and Rotation for Self-Calibration of Space Robots on Orbit |
| title_sort | error modeling in distance and rotation for self calibration of space robots on orbit |
| url | http://dx.doi.org/10.1155/2019/8349048 |
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