Kinematic Accuracy Analysis and Improvement of Mobile Manipulator

Mobile manipulator has sufficient workspace but limited kinematic accuracy. We focus on the kinematic accuracy improvement of mobile manipulator. Our solution is utilizing the cross-coupling concept to compensate AGV error by manipulator. Two main preconditions are that manipulator can work with high accuracy and AGV error can be obtained exactly. To satisfy these two preconditions, we first propose a new linear calibration method considering the joint flexibility and temperature change to improve the accuracy of manipulator. Then we build an error filed to predict AGV error and transform AGV error as an offset of manipulator. We conduct the experiments to detect the accuracy improvement and the results confirm the validity of the method proposed in this paper.