Cartesian_robot_calibration_experiment_data

Cartesian_robot_calibration_experiment_data

Citation Author(s):
Silu
Chen
Submitted by:
Si-Lu Chen
Last updated:
Fri, 04/10/2020 - 12:32
DOI:
10.21227/yxdw-jp45
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The data are used to identify the  kinematic parameters deviation of Cartesian robot, train Gaussian Process Regression (GPR) model, record the compensation result of four calibration methods under different loading conditions.

Instructions: 

Compensation results file: It expresses the compensation results in 8 test points when using four calibration methods under different loading conditions. We can see Figure16 in this paper.

HCT+BD+GPR_training file: These data record 320 groups of position points of the end effector after using HCT+BD model to compensate.  We can get 320 groups of residual error data by simply calculating the difference between these data and these designated positions. And they are used to train GPR model. 10-fold cross validation results of GPR model about x and z error are obtained by using these data. They  are shown in Figure14 and Figure15 in this paper.

 

HCT+GPR_training file: These data record 320 groups of position points of the end effector after using HCT model to compensate.  We can get 320 groups of residual error data by simply calculating the difference between these data and these designated positions. And they are used to train GPR model.

Identify_kinematic_parameter_deviation file: Using nonlinear least squares method to minimize the difference  between the amended position and actual position. We can get the deviation of kinematic parameters. The procedure to identify the deviation of kinematic parameters is shown in Figure 4. And we can see the result of deviation in Table 2 in this paper.

 

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[1] Silu Chen, "Cartesian_robot_calibration_experiment_data", IEEE Dataport, 2020. [Online]. Available: http://dx.doi.org/10.21227/yxdw-jp45. Accessed: Jul. 04, 2020.
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doi = {10.21227/yxdw-jp45},
url = {http://dx.doi.org/10.21227/yxdw-jp45},
author = {Silu Chen },
publisher = {IEEE Dataport},
title = {Cartesian_robot_calibration_experiment_data},
year = {2020} }
TY - DATA
T1 - Cartesian_robot_calibration_experiment_data
AU - Silu Chen
PY - 2020
PB - IEEE Dataport
UR - 10.21227/yxdw-jp45
ER -
Silu Chen. (2020). Cartesian_robot_calibration_experiment_data. IEEE Dataport. http://dx.doi.org/10.21227/yxdw-jp45
Silu Chen, 2020. Cartesian_robot_calibration_experiment_data. Available at: http://dx.doi.org/10.21227/yxdw-jp45.
Silu Chen. (2020). "Cartesian_robot_calibration_experiment_data." Web.
1. Silu Chen. Cartesian_robot_calibration_experiment_data [Internet]. IEEE Dataport; 2020. Available from : http://dx.doi.org/10.21227/yxdw-jp45
Silu Chen. "Cartesian_robot_calibration_experiment_data." doi: 10.21227/yxdw-jp45