Abstract

This study concentrates on two primary challenges in the optimization of humanoid robotic arm configurations and the calibration of flexible visual measurement systems, with the goal of improving the motion adaptability and measurement accuracy of robotic systems. In terms of configuration design, we propose a method for screening candidate configurations based on motion flexibility analysis, which incorporates principles from both human anatomy and robotics. By generating performance distribution charts for candidate configurations and comparing them with human arm movement characteristics and workspace parameters, we ultimately identify the most compatible serial robotic arm configuration, establishing a foundation for subsequent motion planning. Regarding calibration optimization, we devise an improved strategy to address the limitations of existing methods. This strategy establishes a joint correction model for hand-eye relationship errors and kinematic parameter deviations, utilizing a linear structured light sensor mounted on the end-effector and fixed reference constraints. Through iterative algorithms that enhance calibration precision, it maximizes the system's potential for high-precision robotic operations. The research offers theoretical and technical support for the synergistic optimization of intelligent control in humanoid robotic arms and high-precision visual measurement systems, demonstrating significant engineering applicability.

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