DocumentCode
1863381
Title
Manipulator kinematic error model in a calibration process through quaternion-vector pairs
Author
Rueda, M. A Pérez ; Feria, A. Lara ; Marinero, J. C Fraile ; Urrecho, J. Delgado ; Sánchez, J. L González
Author_Institution
Mech. Eng. Dept., Escuela Tecnica Superior de Ingenieros Ind. de Valladolid, Spain
Volume
1
fYear
2002
fDate
2002
Firstpage
135
Abstract
Three-dimensional modeling of rotations and translations in kinematic calibration is most commonly performed using homogeneous transformations. The paper presents a technique for the calibration of robots based on the quaternion-vector pair approach for the identification of geometrical errors.
Keywords
Jacobian matrices; calibration; manipulator kinematics; partial differential equations; Jacobian matrix; calibration process; identification Jacobian; kinematic calibration; manipulator kinematic error model; quaternion-vector pairs; rotations; three-dimensional modeling; translations; Calibration; End effectors; Industrial engineering; Jacobian matrices; Kinematics; Manipulators; Postal services; Quaternions; Robot control;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Print_ISBN
0-7803-7272-7
Type
conf
DOI
10.1109/ROBOT.2002.1013351
Filename
1013351
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