Enhancing pose accuracy of space robot by improved differential evolution |
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Authors: | Yu Liu Feng-lei Ni Hong Liu and Wen-fu Xu |
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Affiliation: | [1]State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China [2]Mechanical Engineering and .Automation, Harbin Institute of Technology Shenzhen Graduate School, Shenzhen 518057, China |
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Abstract: | Due to the intense vibration during launching and rigorous orbital temperature environment, the kinematic parameters of space
robot may be largely deviated from their nominal parameters. The disparity will cause the real pose (including position and
orientation) of the end effector not to match the desired one, and further hinder the space robot from performing the scheduled
mission. To improve pose accuracy of space robot, a new self-calibration method using the distance measurement provided by
a laser-ranger fixed on the end-effector is proposed. A distance-measurement model of the space robot is built according to
the distance from the starting point of the laser beam to the intersection point at the declining plane. Based on the model,
the cost function about the pose error is derived. The kinematic calibration is transferred to a non-linear system optimization
problem, which is solved by the improved differential evolution (DE) algorithm. A six-degree of freedom (6-DOF) robot is used
as a practical simulation example, and the simulation results show: 1) A significant improvement of pose accuracy of space
robot can be obtained by distance measurement only; 2) Search efficiency is increased by improved DE; 3) More calibration
configurations may make calibration results better. |
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Keywords: | space robot self-calibration laser ranger pose accuracy improved differential evolution |
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