Laser-Based Kinematic Calibration of Robot Manipulator Using Differential Kinematics

This paper proposes a novel systematic technique to estimate entire kinematic parameter errors of robot manipulator. Small errors always exist in link length and link twist for physical manipulators, which affect the precision in kinematic equations leading to calculate wrong joint angle values in i...

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Veröffentlicht in:	IEEE/ASME transactions on mechatronics 2012-12, Vol.17 (6), p.1059-1067
Hauptverfasser:	Park, In-Won, Lee, Bum-Joo, Cho, Se-Hyoung, Hong, Young-Dae, Kim, Jong-Hwan
Format:	Artikel
Sprache:	eng
Schlagworte:	Calibration Differential kinematics extended Kalman filter (EKF) Jacobian matrices Kalman filters kinematic calibration Kinematics Manipulators Measurement by laser beam structured laser module (SLM)
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