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A method for calibrating and compensating robot kinematic errors

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2 Author(s)
Veitschegger, W. ; Northwestern University, Evanston, IL, USA ; Wu, C.-H.

This paper presents a method of calibrating and compensating for the kinematic errors in robot manipulators. A method of selecting a set of independent kinematic errors for modeling any geometric errors in a manipulator's structure is developed. A calibration algorithm is presented for finding the values of these kinematic errors by measuring the end-effector Cartesian position. These kinematic errors are experimentally determined for a PUMA 560 six joint manipulator. Two general purpose compensation algorithms are developed and the improvement in the Cartesian position of the end-effector is experimentally measured and these results are presented.

Published in:

Robotics and Automation. Proceedings. 1987 IEEE International Conference on  (Volume:4 )

Date of Conference:

Mar 1987