Title :
Calibration for accuracy improvement of serial manipulators based on compressed sensing
Author_Institution :
Singapore Univ. of Technol. & Design, Singapore, Singapore
Abstract :
Geometric errors are the main source of the positioning inaccuracy of robotic manipulators. A novel robot calibration approach is proposed based on compressed sensing to compensate the geometric errors. Simulation results validate that the proposed method improves the accuracy as well as reduces the calibration time.
Keywords :
calibration; compressed sensing; manipulators; position control; compressed sensing; geometric errors; positioning inaccuracy; robotic manipulators; serial manipulators accuracy improvement;
Journal_Title :
Electronics Letters
DOI :
10.1049/el.2015.0427
