Referenced Items are not available for this document.
A method is presented for 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 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. The results show that the positioning accuracy of a robot manipulator can be substantially improved using a relatively simple technique for measuring the Cartesian position of a tool attached to the end of the manipulator
Published in:
Robotics and Automation, IEEE Journal of
(Volume:4
,
Issue:
6
)
Date of Publication: Dec 1988
- Page(s):
- 643 - 656
- ISSN :
- 0882-4967
- INSPEC Accession Number:
- 3323053
- Digital Object Identifier :
- 10.1109/56.9302
- Product Type:
- Journals & Magazines
- Date of Current Version :
- 06 August 2002
- Issue Date :
- Dec 1988
- Sponsored by :
- IEEE Robotics and Automation Society
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