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An active technique for piecewise calibration of robot manipulators

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2 Author(s)
K. Ravi ; Dept. of Chem. Eng., Alberta Univ., Edmonton, Alta., Canada ; A. Basu

Robot calibration is essential to improve the positioning accuracy of robot manipulators. A mathematical (kinematic) model is used to describe the geometric structure of a robot manipulator. Robot calibration procedure involves calculating and improving the values of this model's parameters. The robot calibration technique presented in this paper uses a vision system, to calibrate the kinematic model. For an n-linked robot manipulator, the procedure calibrates one link at a time, starting with the nth link by making small movements. The resulting equations are linear, consequently, the algorithms are simple

Published in:

Intelligent Robots and Systems 95. 'Human Robot Interaction and Cooperative Robots', Proceedings. 1995 IEEE/RSJ International Conference on  (Volume:1 )

Date of Conference:

5-9 Aug 1995