A Novel High-Speed and High-Accuracy Manipulator of Planar Five-Link Structure: Modeling and Calibration

摘要

This paper describes a novel manipulator of planar five-link structure, which is designed to be characterized as high speed and high accuracy. The manipulator's mathematic models are built for purposes of analysis and control. Due to the lack of high-accuracy angular measurement equipment during manufacturing, the exact initial joint positions of the manipulator are unknown. An extended Kalman filter-based calibration algorithm is proposed to estimate those initial angles and a laser interferometer is adopted as the measurement equipment. To satisfy the high-speed requirement, a new Cartesian trajectory which combines the trapezoidal and S-shape trajectories is proposed. The testing results show that the requirements with respect to velocity, acceleration and accuracy are successfully achieved. Finally, an application example is given to demonstrate its potential uses.