Comparison of Unconstrained and Constrained Calibration Methods

Abstract

The idea of using a passive end point motion constraint to calibrate robot manipulators is of particular interest because no measurement equipment is required. The accuracy attained using this method is compared to the accuracy attained by an unconstrained calibration using computer simulated measurements. A kinematic model is established for each configuration using the Denavit- Hartenberg methodology. The kinematic equations are formulated and are used in the computer simulated calibration to determine the actual kinematic parameters of the manipulator. The results are discussed in terms of the effect of measurement noise and the number of experimental observations on the accuracy of parameter identification.

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Document Details

Document Type
Technical Report
Publication Date
Jun 01, 1991
Accession Number
ADA246941

Entities

People

  • Michael J. Wiegand

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Autonomy
  • Ground and Sea Platforms

DTIC Thesaurus Topics

  • Accuracy
  • Algorithms
  • Classification
  • Computer Programming
  • Computer Programs
  • Computers
  • Control
  • Engineering
  • Equations
  • Geometry
  • Low Noise
  • Measurement
  • Mechanical Engineering
  • Orientation (Direction)
  • Random Number Generators
  • Random Variables
  • United States

Fields of Study

  • Physics

Readers

  • Control Systems Engineering.
  • Fluid Dynamics.
  • Robotics and Automation.

Technology Areas

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