A Perturbation Approach to Robot Calibration.

Abstract

The forward and reverse solutions of a manipulator with six joints are expanded up to second order in the 24 joint parameters. This paper attempts to establish a mathematical reference frame for geometric errors only. No attempt is made to quantify the relative contribution of geometric and non-geometric errors, since this ratio is application dependent and will also depend on the design of the manipulator itself. Since in high speed operations high positional accuracy is desirable, we address the question of how to cope with geometric deviations from the ideal manipulator configuration. Additional keywords: matrices(mathematics); transformation(mathematics).

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Document Details

Document Type
Technical Report
Publication Date
Apr 01, 1985
Accession Number
ADA159166

Entities

People

  • B. Gurumoorthy
  • F. B. Prinz
  • H. O. K. Kirchner

Organizations

  • Carnegie Mellon University

Tags

DTIC Thesaurus Topics

  • Accuracy
  • Algebra
  • Calibration
  • Cartesian Coordinates
  • Computations
  • Computers
  • Control
  • Dynamics
  • Equations
  • Linear Algebra
  • Manufacturing
  • Mathematics
  • Measurement
  • Perturbations
  • Production
  • Scalar Functions
  • Test And Evaluation

Fields of Study

  • Physics

Readers

  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.
  • Computer Vision.
  • Robotics and Automation.

Technology Areas

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