Current Search: EL-BALAH, OUSSAMA NAJIB RAWDAH. (x)
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Title
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KALMAN FILTERING FOR ROBOTIC CALIBRATION.
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Creator
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EL-BALAH, OUSSAMA NAJIB RAWDAH., Florida Atlantic University, Roth, Zvi S.
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Abstract/Description
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This thesis is concerned with the use of calibration techniques to increase robot accuracy. It is mainly an overview of some of the problems involved in the identification phase of calibration. A robot error model is developed and Kalman filtering algorithm is used in the identification of robot kinematic error parameters. Computer simulations and examples are used to study the behavior of the Kalman filter and its theoretical advantages in robot calibration.
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Date Issued
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1987
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PURL
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http://purl.flvc.org/fcla/dt/14370
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Subject Headings
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Robotics--Calibration, Kalman filtering
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Format
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Document (PDF)
