Title :
Effect of non-geometric errors on manipulator inertial calibration
Author_Institution :
Inst. for Machinery Res., Nat. Res. Council of Canada, Ottawa, Ont., Canada
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;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525532
