DocumentCode :
1813915
Title :
Robot geometry calibration
Author :
Hayati, Samad ; Tso, Kam ; Roston, Gerald
Author_Institution :
Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
fYear :
1988
fDate :
24-29 Apr 1988
Firstpage :
947
Abstract :
Autonomous robot task execution requires that the end effector of the robot be positioned accurately relative to a reference world-coordinate frame. The authors present a complete formulation to identify the actual robot geometric parameters. The method applies to any serial link manipulator with arbitrary order and combination of revolute and prismatic joints. A method is also presented to solve the inverse kinematic of the actual robot model which usually is not a so-called simple robot. Experimental results performed by utilizing a PUMA 560 with simple measurement hardware are presented. As a result of this calibration a precision move command is designed and integrated into a robot language, RCCL, and used in the NASA Telerobot Testbed
Keywords :
kinematics; parameter estimation; position control; robots; NASA Telerobot Testbed; PUMA 560; RCCL; autonomous robot task execution; end effector; inverse kinematic; parameter identification; prismatic joints; reference world-coordinate frame; revolute joints; robot geometry calibration; serial link manipulator; Calibration; Computational geometry; End effectors; Hardware; Kinematics; Manipulators; NASA; Performance evaluation; Robots; Testing;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
Type :
conf
DOI :
10.1109/ROBOT.1988.12181
Filename :
12181
Link To Document :
بازگشت