Research on the Calibration Method of Space Humanoid Manipulator Based on Configuration Perturbation

In order to realize the fast and accurate kinematic calibration of the space humanoid manipulator, this paper applies the theory of matrix perturbation to the robot kinematics. First of all, the model has been built in accordance with the dynamic error. According to the matrix perturbation theory, the recognizable Jacobian matrix between the measurement error and the calibration error is extended to the perturbation recognizable Jacobian matrix with perturbation expression. The recognizable of the configuration perturbation is analyzed based on the influence of Jacobian matrix and observability index, and the relationship between Jacobian and observability index of perturbation recognizable is derived. On this basis, the closed mapping from configuration perturbation to singular value change is established by combining detmax algorithm. Based on this mapping, an effective configuration searching method is proposed. Experiments are carried out on the Tiangong-2 humanoid manipulator, and the results are compared with other three common search algorithms, which prove the effectiveness of the method.