DocumentCode
2539106
Title
A method for calibrating and compensating robot kinematic errors
Author
Veitschegger, W.K. ; Wu, Chi-Haur
Author_Institution
Northwestern University, Evanston, IL, USA
Volume
4
fYear
1987
fDate
31837
Firstpage
39
Lastpage
44
Abstract
This paper presents a method of calibrating and compensating for the kinematic errors in robot manipulators. A method of selecting a set of independent kinematic errors for modeling any geometric errors in a manipulator´s structure is developed. A calibration algorithm is presented for finding the values of these kinematic errors by measuring the end-effector Cartesian position. These kinematic errors are experimentally determined for a PUMA 560 six joint manipulator. Two general purpose compensation algorithms are developed and the improvement in the Cartesian position of the end-effector is experimentally measured and these results are presented.
Keywords
Bismuth; Calibration; Computer errors; Manipulators; Position measurement; Robot kinematics; Solid modeling;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation. Proceedings. 1987 IEEE International Conference on
Type
conf
DOI
10.1109/ROBOT.1987.1087839
Filename
1087839
Link To Document