A note on “a linear solution to the kinematic parameter identification of robot manipulators”

The solution method presented previously by us ( ibid. vol.9, no.2, p.174-85, 1993) employs the complete and parametrically continuous (CPC) model. In the first step of this approach, all CPC orientation parameters related to revolute joints, are sequentially determined. In the second step, CPC translation parameters, together with orientation parameters of prismatic joints, are simultaneously computed. While our approach eliminates propagation errors in the estimation of translation parameters, it has several drawbacks. In this paper we propose a modification to the linear approach of the previous method. This modification not only eliminates the two problems of the original method but also preserves the advantage of solving for the robot translation parameters simultaneously