Referenced Items are not available for this document.
This work deals with closed-loop calibration methods where the robot endpoint is constrained to lie on a plane. Previously published calibration approaches are shown to have certain weaknesses. A new solution is given using DH and Hayati notations and standard nonlinear least squares optimization. The procedure is extended via the implicit loop method, which takes input noise into account. Pose selection is guided by the noise amplification index. Simulation and experimental results are presented for a PUMA 560 industrial manipulator and are compared to those obtained from an open-loop calibration procedure
Published in:
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
(Volume:4
)
Date of Conference: 20-25 Apr 1997
- Page(s):
- 3191 - 3196 vol.4
- Meeting Date :
- 20 Apr 1997-25 Apr 1997
- Print ISBN:
- 0-7803-3612-7
- INSPEC Accession Number:
- 5685143
- Conference Location :
- Albuquerque, NM
- Digital Object Identifier :
- 10.1109/ROBOT.1997.606774
- Product Type:
- Conference Publications
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