DocumentCode
2957379
Title
An New Computational Method of the Identification Jacobian for Robot Manipulator Calibration
Author
Zhang, Jianye
Author_Institution
Sch. of Mech. Eng., Tianjin Univ., Tianjin, China
fYear
2011
fDate
30-31 July 2011
Firstpage
1
Lastpage
3
Abstract
Identification jacobian matrix, which represents the relationship between kinematic parameter error and the positional error of the robot manipulator, is very useful for the model based calibration of robot manipulator. In this paper, a new methodology to calculate the identification jacobian matrix for robot manipulator calibration is presented based on the modified Khalil and Kleinfinger notation. A computer program to calculate the identification jacobian matrix by using symbolic computation has been developed in MATLAB.
Keywords
Jacobian matrices; calibration; identification; manipulator kinematics; symbol manipulation; Kleinfinger notation; MATLAB; computer program; identification Jacobian matrix; kinematic parameter error; modified Khalil notation; positional error; robot manipulator calibraiton; symbolic computation; Calibration; Jacobian matrices; Kinematics; Manipulators; Mathematical model; Robot kinematics;
fLanguage
English
Publisher
ieee
Conference_Titel
Control, Automation and Systems Engineering (CASE), 2011 International Conference on
Conference_Location
Singapore
Print_ISBN
978-1-4577-0859-6
Type
conf
DOI
10.1109/ICCASE.2011.5997848
Filename
5997848
Link To Document