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
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;
Conference_Titel :
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Print_ISBN :
0-7803-7272-7
DOI :
10.1109/ROBOT.2002.1013351
