Proceedings ArticleDOI
A complete and parametrically continuous kinematic model for robot manipulators
Hanqi Zhuang,Zvi S. Roth,F. Hamano +2 more
- Vol. 8, Iss: 4, pp 451-463
TLDR
A kinematic modeling convention for robot manipulators is proposed which has complete and parametrically continuous (CPC) properties and makes the CPC model particularly useful for robot calibration.Abstract:
A kinematic modeling convention for robot manipulators is proposed. The kinematic model is named for its completeness and parametric continuity (CPC) properties. Parametric continuity of the CPC model is achieved by adopting a singularity-free line representation consisting of four line parameters. Completeness is achieved through adding two link parameters to allow arbitrary placement of link coordinate frames. The transformations from the world frame to the base frame and from the last link frame to the tool frame can be modeled with the same modeling convention used for internal link transformations. Since all the redundant parameters in the CPC model can be systematically eliminated, a linearized robot error model can be constructed in which all error parameters are independent and span the entire geometric error space. The focus is on model construction, mappings between the CPC model and the Denavit-Hartenberg model, the study of the model properties, and its application to robot kinematic calibration. >read more
Citations
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Journal ArticleDOI
Kinematic-Parameter Identification for Serial-Robot Calibration Based on POE Formula
TL;DR: The error model based on the POE formula can be a complete, minimal, and continuous kinematic model for serial-robot calibration.
Journal ArticleDOI
Local POE model for robot kinematic calibration
TL;DR: In this article, a robot kinematic calibration method based on the local frame representation of the Local POE formula is introduced, where the twist coordinates of the joint axes are expressed in their respective local (body) frames.
Journal ArticleDOI
Geometric calibration of industrial robots using enhanced partial pose measurements and design of experiments
TL;DR: In this paper, a geometric model for serial manipulators is proposed to reduce the measurement noise impact by means of proper selection of the manipulator configurations in calibration experiments, which takes into account different sources of errors (link lengths, joint offsets, etc).
Book ChapterDOI
Kinematic calibration using the product of exponentials formula
Koichiro Okamura,Frank C. Park +1 more
TL;DR: In this paper, a method for kinematic calibration of open chain mechanisms based on the product of exponentials (POE) formula is presented. But the POE formula does not address the inherent singularities in the Denavit-Hartenberg (D-H) parameters.
Journal ArticleDOI
Review on Kinematics Calibration Technology of Serial Robots
TL;DR: In this article, a comprehensive and organized description and summarization of the three kinds of calibrations for robot kinematics calibration is given, existing achievements are summarized, a typical calibration process is carried out and calibration precautions are detailed, then calibration results of various methods are compared and analyzed.
References
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Journal ArticleDOI
A Kinematic Notation for Lower-Pair Mechanisms Based on Matrices
J. Denavit,R. S. Hartenberg +1 more
Book
Fundamentals of Manipulator Calibration
TL;DR: The details of the calibration process step-by-step are described, covering systems modeling, measurement, identification, correction and performance evaluation.
Proceedings ArticleDOI
Robot arm geometric link parameter estimation
TL;DR: A general method for estimating serial link manipulator geometric parameter errors is proposed and may be increased significantly by updating the nominal link parameters in the control software to represent the physical system more accurately.
Book
Kinematics and mechanisms design
C. H. Suh,C. W. Radcliffe +1 more
TL;DR: Kinematics and mechanisms design, Kinematic and mechanism design, the authors, Kinematics, mechanisms, and mechanisms, KML, and design of mechanisms for the design of KML.