Combination of geometric and parametric approaches for kinematic identification of an industrial robot

Combination of geometric and parametric approaches of kinematic identification is proposed in this article. The experimental strategy is similar to that used in geometric approach wherein each axis of the robot is actuated one after the other. This adds clarity to experimental strategy, which become...

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Veröffentlicht in:	Robotics and computer-integrated manufacturing 2021-10, Vol.71, p.102142, Article 102142
Hauptverfasser:	Boby, Riby Abraham, Klimchik, Alexandr
Format:	Artikel
Sprache:	eng
Schlagworte:	Accuracy Cameras Deterioration End effectors Experimental validation Experiments Geometric approach Industrial robot Industrial robots Jacobi matrix method Jacobian matrix Kinematic identification Kinematics Least squares method Measuring instruments Parameter estimation Parametric approach Parametric statistics Robots Workspace
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