扩展卡尔曼滤波器
卡尔曼滤波器
校准
人工神经网络
计算机科学
人工智能
滤波器(信号处理)
算法
计算机视觉
数学
统计
作者
Weiyi Yang,Shuai Li,Zhibin Li,Xin Luo
出处
期刊:IEEE Transactions on Industrial Informatics
[Institute of Electrical and Electronics Engineers]
日期:2023-11-01
卷期号:19 (11): 10831-10841
被引量:15
标识
DOI:10.1109/tii.2023.3241614
摘要
With the rapid development and wide applications of industrial manipulators, a vital concern rises regarding a manipulator's absolute positioning accuracy. The manipulator calibration models have proven to be highly efficient in improving the absolute positioning accuracy of an industrial manipulator. However, existing calibration models commonly suffer from the low calibration accuracy caused by the ignorance of nongeometric errors. To address this critical issue, this article proposes an e xtended Kalman filter-incorporated R esidual Neural Network-based C alibration (ERC) model for kinematic calibration. Its main ideas are two-fold: 1) adopting an e xtended Kalman filter (EKF) to address a manipulator's geometric errors; and 2) adopting a r esidual neural network to cascade with the EKF for eliminating the remaining nongeometric errors. Detailed experiments on three real datasets collected from industrial manipulators demonstrate that the proposed ERC model has achieved significant calibration accuracy gain over several state-of-the-art models.
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