Kinematic Modeling of Six-Axis Industrial Robot and its Parameter Identification: A Tutorial

In advanced industrial applications, like machining, the absolute positioning accuracy of a six-axis robot is indispensable. To improve the absolute positioning accuracy of an industrial robot, numerical compensation based on positioning error prediction by the Denavit and Hartenberg (D-H) model has...

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Veröffentlicht in:	International journal of automation technology 2021-09, Vol.15 (5), p.599-610
Hauptverfasser:	Alam, Md. Moktadir, Ibaraki, Soichi, Fukuda, Koki
Format:	Artikel
Sprache:	eng
Schlagworte:	Accuracy Algorithms Coordinate transformations Deviation End effectors Error compensation Industrial applications Industrial robots Kinematics Machining Manufacturing engineering Mathematical models Parameter identification Positioning devices (machinery) Robots
Online-Zugang:	Volltext
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