Complete, minimal and model-continuous kinematic models for robot calibration
| Autor: | Stephen L Albright, Klaus Schröer, Michael Grethlein |
|---|---|
| Rok vydání: | 1997 |
| Předmět: |
Robot kinematics
Robot calibration General Mathematics Kinematics Revolute joint Topology Industrial and Manufacturing Engineering Computer Science Applications Computer Science::Robotics Control and Systems Engineering Completeness (order theory) Robot Representation (mathematics) Parametrization Algorithm Software Mathematics |
| Zdroj: | Robotics and Computer-Integrated Manufacturing. 13:73-85 |
| ISSN: | 0736-5845 |
| DOI: | 10.1016/s0736-5845(96)00025-7 |
| Popis: | New general kinematic models for robot calibration are presented in this paper. These models have the distinct advantage of satisfying the model-parameter identification requirements of completeness, minimality and model continuity for all combinations and configurations of revolute and prismatic joints. A set of 17 model parametrizations are developed, including simple criteria for deciding which parametrizations are to be used in modelling a robot. The parametrizations presented also result in an accurate representation of the physical robot and thus allow realistic integration of elastic deformation models. Model continuity within each parametrization's application range is shown by means of differential geometry. Also shown is how these models are be extracted from a non-complex “vector-chain” description of a robot. |
| Databáze: | OpenAIRE |
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