| contributor author | D. E. Whitney | |
| contributor author | C. A. Lozinski | |
| contributor author | J. M. Rourke | |
| date accessioned | 2017-05-08T23:22:13Z | |
| date available | 2017-05-08T23:22:13Z | |
| date copyright | March, 1986 | |
| date issued | 1986 | |
| identifier issn | 0022-0434 | |
| identifier other | JDSMAA-26090#1_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/100992 | |
| description abstract | This paper presents a forward calibration method for serial link manipulators. The procedure uses a model whose parameters represent link lengths, joint encoder offsets, the relative orientations of consecutive axes, and experimentally observed effects of joint compliance, backlash, and gear transmission errors. A least squares numerical search algorithm uses theodolite measurements of tool position and the robot’s joint encoder readings to estimate the complete model’s parameters. The calibrated robot model predicts theodolite readings with an rms error of 5.7 × 10−5 rad (0.13 mm). Other tests show that this technique improves the robot model from as much as 4.8 mm error to 0.3 mm error. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Industrial Robot Forward Calibration Method and Results | |
| type | Journal Paper | |
| journal volume | 108 | |
| journal issue | 1 | |
| journal title | Journal of Dynamic Systems, Measurement, and Control | |
| identifier doi | 10.1115/1.3143737 | |
| journal fristpage | 1 | |
| journal lastpage | 8 | |
| identifier eissn | 1528-9028 | |
| tree | Journal of Dynamic Systems, Measurement, and Control:;1986:;volume( 108 ):;issue: 001 | |
| contenttype | Fulltext | |