Referenced Items are not available for this document.
A method for modeling the significant parameters of closed-loop mechanisms in robots for purposes of calibration is presented. Nonlinear kinematic and mechanical characteristics of the closed-loop mechanisms are modeled in such a way that they can be integrated into an open-loop manipulator model and identified. This integration is accomplished through a separation of the spatial open-loop manipulator (defining the kinematic model) and its joint-actuating mechanisms or actuator models which can be nonlinear in the case of closed-loop mechanisms. Identifiability of model parameters (including elasticity) is analyzed and calibration results are presented
Published in:
Robotics and Automation, IEEE Transactions on
(Volume:13
,
Issue:
2
)
Date of Publication: Apr 1997
- Page(s):
- 218 - 229
- ISSN :
- 1042-296X
- INSPEC Accession Number:
- 5550127
- Digital Object Identifier :
- 10.1109/70.563644
- Product Type:
- Journals & Magazines
- Date of Current Version :
- 06 August 2002
- Issue Date :
- Apr 1997
- Sponsored by :
- IEEE Robotics and Automation Society
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