| Форма представления | Тезисы и материалы конференций в зарубежных журналах и сборниках |
| Год публикации | 2017 |
| Язык | английский |
|
Магид Евгений Аркадьевич, автор
|
| Библиографическое описание на языке оригинала |
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. |
| Аннотация |
2017 International Conference on Mechanical, System and Control Engineering |
| Ключевые слова |
humanoid, calibration, AR601M, KUKA IIWA, industrial manipulator |
| Название журнала |
2017 International Conference on Mechanical, System and Control Engineering
|
| URL |
https://ieeexplore.ieee.org/document/7959468 |
| Пожалуйста, используйте этот идентификатор, чтобы цитировать или ссылаться на эту карточку |
https://repository.kpfu.ru/?p_id=257528 |
| Файлы ресурса | |
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Полная запись метаданных  |
| Поле DC |
Значение |
Язык |
| dc.contributor.author |
Магид Евгений Аркадьевич |
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/?p_id=257528 |
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 |
Тезисы и материалы конференций в зарубежных журналах и сборниках |
ru_RU |
|
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