Over the past decades, industrial manipulators play a vital role in in various fields, like aircraft manufacturing and automobile manufacturing. However, an industrial manipulator without calibration suffers from its low absolute positioning accuracy, which extensively restricts its application in high-precision intelligent manufacture. Recent manipulator calibration methods are developed to address this issue, while they frequently encounter long-tail convergence and low calibration accuracy. To address this thorny issue, this work proposes a novel manipulator calibration method incorporating an extended Kalman filter with a Quadratic Interpolated Beetle Antennae Search algorithm. This paper has three-fold ideas: a) proposing a new Quadratic Interpolated Beetle Antennae Search algorithm to deal with the issue of local optimum and low convergence rate in a Beetle Antennae Search algorithm; b) adopting an extended Kalman filter algorithm to suppress non-Gaussian noises and c) developing a new manipulator calibration method incorporating an extended Kalman filter with a Quadratic Interpolated Beetle Antennae Search algorithm to calibrating a manipulator. Extensively experimental results on an ABB IRB120 industrial manipulator demonstrate that the proposed method achieves much higher calibration accuracy than several state-of-the-art calibration methods.

中文翻译：

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一种用于机械臂校准的新型二次插值甲虫天线搜索

在过去的几十年里，工业机械手在飞机制造和汽车制造等各个领域发挥着至关重要的作用。然而，未经标定的工业机械手绝对定位精度低，极大地限制了其在高精度智能制造中的应用。最近开发了机械臂校准方法来解决这个问题，但它们经常遇到长尾收敛和校准精度低的问题。为了解决这个棘手的问题，这项工作提出了一种新的机械手校准方法，该方法结合了扩展卡尔曼滤波器和二次插值甲虫天线搜索算法。这篇论文有三个想法：a) 提出一种新的二次插值甲虫天线搜索算法，以解决甲虫天线搜索算法中局部最优和收敛速度低的问题；b) 采用扩展卡尔曼滤波器算法来抑制非高斯噪声和 c) 开发一种新的操纵器校准方法，该方法结合了扩展卡尔曼滤波器和二次插值甲虫天线搜索算法来校准操纵器。在 ABB IRB120 工业机械手上的广泛实验结果表明，所提出的方法比几种最先进的校准方法实现了更高的校准精度。b) 采用扩展卡尔曼滤波器算法来抑制非高斯噪声和 c) 开发一种新的操纵器校准方法，该方法结合了扩展卡尔曼滤波器和二次插值甲虫天线搜索算法来校准操纵器。在 ABB IRB120 工业机械手上的广泛实验结果表明，所提出的方法比几种最先进的校准方法实现了更高的校准精度。b) 采用扩展卡尔曼滤波器算法来抑制非高斯噪声和 c) 开发一种新的操纵器校准方法，该方法结合了扩展卡尔曼滤波器和二次插值甲虫天线搜索算法来校准操纵器。在 ABB IRB120 工业机械手上的广泛实验结果表明，所提出的方法比几种最先进的校准方法实现了更高的校准精度。