Title :
Kinematic calibration of manipulators with closed loop actuated joints
Author :
Everett, L.J. ; Lin, C.Y.
Author_Institution :
Dept. of Mech. Eng., Texas A&M Univ., College Station, TX, USA
Abstract :
A method for performing forward kinematic calibration of manipulators having one or more closed-loop-actuated joints is presented. The technique is an extension of algorithms designed for open-loop jointed manipulators. The calibration is equivalent to minimizing an objective function subject to constraints. The objective function is taken as the integral of end-effector position and orientation error. The constraints arise from the closed-loop mechanisms present in the manipulator
Keywords :
calibration; kinematics; robots; closed loop actuated joints; end-effector; kinematic calibration; manipulators; objective function; orientation error; robots; Calibration; Couplings; End effectors; Feedback; Kinematics; Manipulators; Mechanical engineering; Orbital robotics; Service robots; Tellurium;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12155
