| contributor author | P. L. Broderick | |
| contributor author | R. J. Cipra | |
| date accessioned | 2017-05-08T23:27:48Z | |
| date available | 2017-05-08T23:27:48Z | |
| date copyright | March, 1988 | |
| date issued | 1988 | |
| identifier issn | 1050-0472 | |
| identifier other | JMDEDB-28085#3_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/104229 | |
| description abstract | A method is presented for calibration of a robot to correct position and orientation errors due to manufacturing. The method is based on the shape matrix robot kinematic description. Each joint is individually and successively moved in order to explicitly calculate the shape matrix of each link. In addition, methods to correct for the errors in both the forward and inverse kinematic solutions are presented. The modification of the forward solution is a simple task. The modification of the inverse kinematic solution is a difficult problem and is achieved by an iterative technique which supplements the closed-form solution. An example of the calibration and inverse solution is presented to show the improvement in the accuracy of the robot. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | A Method for Determining and Correcting Robot Position and Orientation Errors Due to Manufacturing | |
| type | Journal Paper | |
| journal volume | 110 | |
| journal issue | 1 | |
| journal title | Journal of Mechanical Design | |
| identifier doi | 10.1115/1.3258902 | |
| journal fristpage | 3 | |
| journal lastpage | 10 | |
| identifier eissn | 1528-9001 | |
| keywords | Robots | |
| keywords | Manufacturing | |
| keywords | Errors | |
| keywords | Shapes AND Calibration | |
| tree | Journal of Mechanical Design:;1988:;volume( 110 ):;issue: 001 | |
| contenttype | Fulltext | |
