You are here

FAU Collections » FAU Research Repository » FAU Theses and Dissertations

novel closed-loop approach for identification of manipulator kinematic parameters

Download pdf | Full Screen View

Date Issued:
1991
Summary:
During the manufacture of industrial robots, differences between actual and nominal linkage parameters occur. Thus, when a robot system attempts to perform a desired task using nominal parameter based planning schemes, it usually performs the task quite differently from the desired one. A method for automatically determining the differences between nominal and actual parameter models, namely calibration, is presented in this thesis. The method features a simple and efficient measurement scheme using an instrumented articulated linkage. The basis of parameter identification approach is similar to that of closed-loop mechanism syntheses. Jacobian formulation using a vector cross product method with mixed choices of kinematic model for coordinate system representation is adopted. Effectiveness of this method and factors affecting the calibration are examined using simulation. A complete design of the measurement device, both electrical and mechanical, is also presented.
Title: A novel closed-loop approach for identification of manipulator kinematic parameters.
51 views
18 downloads
Name(s): Wang, Yuemin.
Florida Atlantic University, Degree grantor
Huang, Ming Z., Thesis advisor
College of Engineering and Computer Science
Department of Computer and Electrical Engineering and Computer Science
Type of Resource: text
Genre: Electronic Thesis Or Dissertation
Issuance: monographic
Date Issued: 1991
Publisher: Florida Atlantic University
Place of Publication: Boca Raton, Fla.
Physical Form: application/pdf
Extent: 107 p.
Language(s): English
Summary: During the manufacture of industrial robots, differences between actual and nominal linkage parameters occur. Thus, when a robot system attempts to perform a desired task using nominal parameter based planning schemes, it usually performs the task quite differently from the desired one. A method for automatically determining the differences between nominal and actual parameter models, namely calibration, is presented in this thesis. The method features a simple and efficient measurement scheme using an instrumented articulated linkage. The basis of parameter identification approach is similar to that of closed-loop mechanism syntheses. Jacobian formulation using a vector cross product method with mixed choices of kinematic model for coordinate system representation is adopted. Effectiveness of this method and factors affecting the calibration are examined using simulation. A complete design of the measurement device, both electrical and mechanical, is also presented.
Identifier: 14732 (digitool), FADT14732 (IID), fau:11523 (fedora)
Collection: FAU Electronic Theses and Dissertations Collection
Note(s): College of Engineering and Computer Science
Thesis (M.S.)--Florida Atlantic University, 1991.
Subject(s): Calibration
Robots, Industrial--Calibration
Held by: Florida Atlantic University Libraries
Persistent Link to This Record: http://purl.flvc.org/fcla/dt/14732
Sublocation: Digital Library
Use and Reproduction: Copyright © is held by the author, with permission granted to Florida Atlantic University to digitize, archive and distribute this item for non-profit research and educational purposes. Any reuse of this item in excess of fair use or other copyright exemptions requires permission of the copyright holder.
Use and Reproduction: http://rightsstatements.org/vocab/InC/1.0/
Host Institution: FAU
Is Part of Series: Florida Atlantic University Digital Library Collections.