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3 Author(s)
Walker, M.W. ; Dept. of Electr. Eng. & Comput. Sci., Michigan Univ., MI, USA ; Dobryden, A. ; Dionise, J.

Several algorithms used for the calibration of a manipulator are presented. The calibration includes the estimation of friction coefficients, position sensor calibration, and the motor torque constants. The model used for compensation of the gearing effects is described. The results of application of these algorithms to the PUMA 560 manipulator are presented

Published in:

Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on

Date of Conference:

13-18 May 1990