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Machine vision system for the automatic identification of robot kinematic parameters

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3 Author(s)
Rousseau, P. ; Walsh Autom., Montreal, Que., Canada ; Desrochers, A. ; Krouglicof, N.

This paper presents an efficient, noncontact measurement technique for the automatic identification of the real kinematic parameters of an industrial robot. The technique is based on least-squares analysis and on the Hayati and Mirmirani kinematic modeling convention for closed kinematic chains. The measurement system consists of a single camera mounted on the robot's wrist. The camera measures position and orientation of a passive target in six degrees of freedom. Target position is evaluated by applying least-squares analysis on an overdetermined system of equations based on the quaternion representation of the finite rotation formula. To enhance the accuracy of the measurement, a variety of image processing functions including subpixel interpolation are applied

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Robotics and Automation, IEEE Transactions on  (Volume:17 ,  Issue: 6 )