Current Search: Wang, Yuemin. (x)
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Title
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A novel closed-loop approach for identification of manipulator kinematic parameters.
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Creator
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Wang, Yuemin., Florida Atlantic University, Huang, Ming Z., College of Engineering and Computer Science, Department of Computer and Electrical Engineering and Computer Science
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Abstract/Description
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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...
Show moreDuring 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.
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Date Issued
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1991
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PURL
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http://purl.flvc.org/fcla/dt/14732
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Subject Headings
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Calibration, Robots, Industrial--Calibration
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Format
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Document (PDF)
