Robotic Arm Kinematics and Calibration 6-DOF Powerball LWA 4P

Abstract

This work covers the specifics to performing kinematic calibration on the Schunk Powerball Light Weight Arm (LWA) 4.6 using a serial approach stating with Circular Point Analysis (CPA) followed by a Gauss-Newton error minimization method. The serial approach allows a simplified regressor for the Gauss-Newton method. While this serial technique of combining these two vastly different parameter identification methods is completely developed it is not fully not optimized for numerical accuracy. Additionally, a solution to the inverse kinematics is completely solved and presented as the precursor for follow-on research.

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Document Details

Document Type
Technical Report
Publication Date
Feb 28, 2019
Accession Number
AD1074061

Entities

People

  • Curtis Bradley

Tags

Communities of Interest

  • Air Platforms
  • Autonomy
  • C4I

DTIC Thesaurus Topics

  • Abstracts
  • Accuracy
  • Calibration
  • Cartesian Coordinates
  • Classification
  • Computer Programming
  • Computer Science
  • Contracts
  • Control Systems
  • Coordinate Systems
  • Data Set
  • Digital Data
  • Errors
  • Euler Angles
  • Grids
  • Identification
  • Kinematics
  • Measurement
  • Orientation (Direction)
  • Parallel Computing
  • Parallel Processing
  • Robotics
  • Robots
  • Three Dimensional
  • Topology
  • Translations

Readers

  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.
  • Regression Analysis.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Bayesian Inference
  • AI & ML - Machine Learning Algorithms
  • Autonomy