By Topic

Calibration of manipulator kinematics: a singularity theory approach

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
Tchon, K. ; Inst. of Eng. Cybern., Tech. Univ. of Wroclaw, Poland

The calibration of manipulator kinematics subject to both geometric and nongeometric variations is addressed. A general definition of calibration is introduced, based on the concept of the group action. A specific calibration method is proposed, called calibration by diffeomorphisms. For calibration by diffeomorphisms, the existence of calibrating transformations has been shown to be equivalent to the structural stability of the nominal kinematics. In the case of parametric variations of kinematics of either geometric or nongeometric origin, the calibration by diffeomorphisms has yielded approximate affine calibrating transformations defined as solutions to a homological equation. For structurally stable nominal kinematics, the homological equation is solvable and provides calibrating transformations defined globally, applicable to both nonsingular and singular kinematics. The affine calibrating transformations have been illustrated with examples including general 2R position kinematics

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:8 ,  Issue: 5 )