Robot arm geometric link parameter estimation
- 1 January 1983
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 22, 1477-1483
- https://doi.org/10.1109/cdc.1983.269783
Abstract
A general method for estimating serial link manipulator geometric parameter errors is proposed in this paper. The positioning accuracy of the end-effector may be increased significantly by updating the nominal link parameters in the control software to represent the physical system more accurately. The proposed method is applicable for serial link manipulators with any combination of revolute or prismatic joints, and is not limited to a specific measurement technique.Keywords
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