Laser calibration and kinematical analysis and synthesis of robots. Selected problems

The paper presents kinematic analysis and synthesis of a multilink robot using a general multibody approach. The multibody analysis is based on the absolute coordinate formulation. For the numerical calculation the general purpose ADAMS^TM computer package was used. Separately the problem of calibration of a serial-parallel robot is discussed. For the calibration the ROBOTEST laser system was adapted which is primarily intended for measurements of other robot accuracy characteristics. The original calibration algorithm enables calibration using this system