Title :
Geometric parameters estimation of robotic systems
Author :
Kostadinov, V.D.
Author_Institution :
Robot Control Dept., Bulgarian Acad. of Sci., Sofia
Abstract :
The author describes a method for robot parameter estimation which allows the computational problems to be reduced and the area of the workspace where the Jacobian matrix is well defined to be established. Results from the estimation of the two-DOF (degree-of-freedom) SCARA-type robot are presented. It is shown that the proposed approach for robot parameter estimation enables one to increase the accuracy of robots by approximately 100 times
Keywords :
matrix algebra; parameter estimation; robots; Jacobian matrix; accuracy; geometric parameters estimation; robotic systems; two DOF SCARA-type robot; workspace; Control systems; End effectors; Error correction; Jacobian matrices; Motion control; Parameter estimation; Robot control; Robot kinematics; Robot programming; Service robots;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.131714
