Identifying robot parameters using partial pose information

A simple radial-distance linear transducer (LVDT) that measures the distance from several fixed points in the workspace to the robot's endpoint has been used to infer the kinematic parameters of a robot. The motivation, theory, implementation, and performance of this particularly easy calibration and parameter identification method are discussed. A disagreement in the literature about the type of measuring system (in particular, the dimensionality of the pose measurements) needed to fully identify a robot's kinematic parameters is addressed.<
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