Optimal design of robot accuracy compensators

The design of a kinematic accuracy compensator for a robot manipulator by using linear optimal control theory is discussed. The method is based on the assumption that either the actual kinematic parameters of the robot have been previously identified or that the pose errors of the manipulator can be...

Ausführliche Beschreibung

Bibliographische Detailangaben

Hauptverfasser:	Zhuang, H., Hamano, F., Roth, Z.S.
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Calibration Cost function Kinematics Manipulators Mathematical model Optimal control Parameter estimation Phase measurement Regulators Robots
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