Hi,
First of all, congrats for results with Minimal POE-Based Model for Robotic Kinematic Calibration, it is a great contribution in robotics calibration field.
There are several modeling methods for kinematics calibration, basically divided in two parts, based on local link coordinate system and based on global coordinate system. POE method is in the second group. Comparison results of final accuracy implementation with those kind of methods are widely known, but it is important has a comparison parameter according with final application, robot configuration, measurement devices and so on.
Based on mentioned above, did you have any choosing parameters or ranking condition to choose for your application that modeling method (POE method)? Why did not you use DH method, CPC model etc.?
Best regards.
Thanks for your question. I think to choose a method for your application, first you should examine whether the robot has adjacent parallel joint axes. If no, then D-H method is sufficient. Otherwise, D-H method will encounter singularity and you should choose other methods. CPC model and POE model both can avoid singularity, but CPC model could involve redundant parameters and would not be an ideal model if further analysis such as dynamics and control are to be studied. So I recommend POE model for this situation. Measurement devices don't affect too much the choice of the methods in my opinion.
Dear Juan?
Depending on the application of the robot, offline programming requires that all components of the cell be accurately modeled to improve the absolute accuracy of the robot. This absolute precision, which is not needed when applications are programmed by learning, becomes crucial when it comes to using offline programming methods. It should be emphasized that the absolute accuracy depends on the serial or parallel structure as well as other parameters of the robot (such as the low mass of the mobile structure, the direct drive joints and the minimum of moving elements ...)
For example POE-based model are used for serial robot, methods based on matrix computation or computational intelligence used for a parallel robot, the complete and parametrically continuous (CPC) robot kinematic modeling convention can be applied for any robot structure.
For more information about this subject I suggest you to take a look at links in topic.
- Review on Kinematics Calibration Technology of Serial Robots
files.matlabsite.com/docs/.../10.1007_s12541-014-0528-1.pdf
- Calibration method for articulated industrial robots - ScienceDirect
www.sciencedirect.com/science/article/pii/S187705091731654X
- Kinematic Modeling of Robotic Manipulators (PDF Download Available)
https://www.researchgate.net/.../282648910_Kinematic_Modeling_...
- novel methods for error modeling and parameter identification ... - Doria
https://www.doria.fi/bitstream/handle/10024/86744/isbn%209789522653451.pdf?...
- New Methods for Kinematic Modelling and Calibration of Robots ...
www.forskningsdatabasen.dk/en/catalog/2389091023
Best regards
Check this links maybe help you
Article An Overview of Kinematic and Calibration Models Using Intern...
http://www.scielo.br/pdf/jbsmse/v27n2/25389.pdf
Article Complete, minimal and model-continuous kinematic models for ...
https://curve.carleton.ca/system/files/etd/45180ed4-56b9-4c4f-ba48-bfd0b1fae7f2/etd_pdf/dfd5009c017d5f58c70a58f1d1184087/lu-kinematiccalibrationofserialmanipulatorsusing.pdf
Hi,
Here is the updated of question, please see links and attached files on topic.
https://www.hindawi.com/journals/mpe/2020/3981081/
https://www.hindawi.com/journals/mpe/2019/9293484/
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