Title :
Basic considerations for robot calibration
Author :
Ziegert, J. ; Datseris, P.
Author_Institution :
Mech. Eng. & Appl. Mech., Rhode Island Univ., Kingston, RI, USA
Abstract :
The effect of kinematic model choice on robot calibration is examined. The literature on the subject is reviewed, and the various possible choices for kinematic modeling are examined. Problems of uniqueness and proportionality are discussed, and a closed-form method for extracting the parameters of a six-parameter model is shown
Keywords :
kinematics; parameter estimation; position control; reviews; robots; closed-form method; kinematic model choice; parameter extraction; proportionality; robot calibration; six-parameter model; uniqueness; Calibration; End effectors; Flexible manufacturing systems; Manufacturing industries; Performance gain; Robot kinematics; Robot programming; Service robots; Shape; Temperature;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12179
