Identifiable Parameters and Optimum Configurations for Robots Calibration
- 1 January 1991
- journal article
- research article
- Published by Cambridge University Press (CUP) in Robotica
- Vol. 9 (1), 63-70
- https://doi.org/10.1017/s0263574700015575
Abstract
SUMMARY: This paper presents a general method to identify the geometric parameters of robots. An algorithm is given to calculate the identifiable geometric parameters. The robot location and the tool location parameters are taken into account. The algorithm is generalized to tree structure robots. The problem of selecting the optimum robot configurations to be used during the identification is discussed and a solution is proposed.Keywords
This publication has 4 references indexed in Scilit:
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- A Kinematic CAD Tool for the Design and Control of a Robot ManipulatorThe International Journal of Robotics Research, 1984
- An efficient method for finding the minimum of a function of several variables without calculating derivativesThe Computer Journal, 1964