Title :
An New Computational Method of the Identification Jacobian for Robot Manipulator Calibration
Author_Institution :
Sch. of Mech. Eng., Tianjin Univ., Tianjin, China
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;
Conference_Titel :
Control, Automation and Systems Engineering (CASE), 2011 International Conference on
Conference_Location :
Singapore
Print_ISBN :
978-1-4577-0859-6
DOI :
10.1109/ICCASE.2011.5997848
