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Identifiable Parameters and Optimum Configurations for Robots Calibration

Published online by Cambridge University Press:  09 March 2009

W. Khalil ,
M. Gautier  and
Ch. Enguehard
W. Khalil
Affiliation:
E.N.S.M., Laboratoire d'automatique, URA CNRS 823, 1 Rue de la Noë, 44072 Nantes Cedex (France)
M. Gautier
Affiliation:
E.N.S.M., Laboratoire d'automatique, URA CNRS 823, 1 Rue de la Noë, 44072 Nantes Cedex (France)
Ch. Enguehard
Affiliation:
E.N.S.M., Laboratoire d'automatique, URA CNRS 823, 1 Rue de la Noë, 44072 Nantes Cedex (France)
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Summary

This paper presents a general method to identify the geometric parameters of robots. An algorithm is given to calculate the identifiable geometric parameters. The robot location and the tool location parameters are taken into account. The algorithm is generalized to tree structure robots. The problem of selecting the optimum robot configurations to be used during the identification is discussed and a solution is proposed.

Keywords

Geometric parametersOptimum configurationsRobot calibrationTree structure
Type
Article
Information
Robotica , Volume 9 , Issue 1 , January 1991 , pp. 63 - 70
Copyright
Copyright © Cambridge University Press 1991

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