Identifying robot parameters using partial pose information

A simple radial-distance linear transducer (LVDT) that measures the distance from several fixed points in the workspace to the robot´s endpoint has been used to infer the kinematic parameters of a robot. The motivation, theory, implementation, and performance of this particularly easy calibration and parameter identification method are discussed. A disagreement in the literature about the type of measuring system (in particular, the dimensionality of the pose measurements) needed to fully identify a robot´s kinematic parameters is addressed.<>