DocumentCode
3426775
Title
Effect of non-geometric errors on manipulator inertial calibration
Author
Xi, F.
Author_Institution
Inst. for Machinery Res., Nat. Res. Council of Canada, Ottawa, Ont., Canada
Volume
2
fYear
1995
fDate
21-27 May 1995
Firstpage
1808
Abstract
Investigated in this paper is the effect of nongeometric errors on manipulator inertial calibration. Nongeometric errors are referred to as joint friction, backlash and compliance. To account for this effect, the total least square (TLS) method and the instrumental variable (IV) method are applied to determine the estimates of the link inertial parameters. Results of simulation show that the TLS and IV methods can improve the accuracy of manipulator inertial calibration when subjected to nongeometric errors
Keywords
errors; least squares approximations; manipulator dynamics; backlash; compliance; instrumental variable method; joint friction; link inertial parameter estimates; manipulator inertial calibration; nongeometric errors; total least square method; Calibration; Degradation; Equations; Error correction; Friction; Kinematics; Machinery; Manipulator dynamics; Shape; Three-term control;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location
Nagoya
ISSN
1050-4729
Print_ISBN
0-7803-1965-6
Type
conf
DOI
10.1109/ROBOT.1995.525532
Filename
525532
Link To Document