Registration of a hybrid robot using the Degradation-Kronecker method and a purely nonlinear method. Issue 12 (28th May 2015)

• Record Type: Journal Article
• Authors: Yan, S. J.; Ong, S. K.; Nee, A. Y. C.
• Is Part Of: Robotica. Volume 34:Issue 12(2016)
• Page Start: 2729
• Page End: 2740
• Publication Date: 2015-05-28
• Subjects: Hybrid robot, -- Registration, -- Robot-world calibration, -- Hand-eye calibration, -- Degradation-Kronecker (D-K) method, -- Nonlinear error function; Robots -- Periodicals; 629.89205
• DOI: 10.1017/S0263574715000338
• Languages: English
• ISSNs: 0263-5747

Abstract

SUMMARY: Although the registration of a robot is crucial in order to identify its pose with respect to a tracking system, there is no reported solution to address this issue for a hybrid robot. Different from classical registration, the registration of a hybrid robot requires the need to solve an equation with three unknowns where two of these unknowns are coupled together. This property makes it difficult to obtain a closed-form solution. This paper is a first attempt to solve the registration of a hybrid robot. The Degradation-Kronecker (D-K) method is proposed as an optimal closed-form solution for the registration of a hybrid robot in this paper. Since closed-form methods generally suffer from limited accuracy, a purely nonlinear (PN) method is proposed to complement the D-K method. With simulation and experiment results, it has been found that both methods are robust. The PN method is more accurate but slower as compared to the D-K method. The fast computation property of the D-K method makes it appropriate to be applied in real-time circumstances, while the PN method is suitable to be applied where good accuracy is preferred.