A Kinematic CAD Tool for the Design and Control of a Robot Manipulator

Chi-Haur Wu*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

96 Scopus citations

Abstract

The correct relationship between two connective joint coordi nates of a robot manipulator is defined by four link parame ters ; one being the joint variable and the other three the geometric values. The basis for all open-loop manipulator control is the relationship between the Cartesian coordinates of the end-effector and the joint coordinates; therefore, the fidelity of the Cartesian position and orientation of the end- effector to the real world depend on the accuracy of the four link parameters of each joint. In this paper, a linear analytic error model describes the six possible Cartesian errors and the four independent kinematic errors from which the Carte sian error envelopes due to any combination of four kinds of kinematic errors can be uniquely determined. From a design standpoint, this error model can be used as a guide to mini mize the open-loop kinematic errors of the robot manipulator. Finally, a new calibration technique based on this model has also been developed that can be used to correct the kinematic errors of the robot manipulator.

Original languageEnglish (US)
Pages (from-to)58-67
Number of pages10
JournalThe International Journal of Robotics Research
Volume3
Issue number1
DOIs
StatePublished - Jan 1 1984

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering
  • Artificial Intelligence
  • Applied Mathematics
  • Modeling and Simulation
  • Software
  • Control and Systems Engineering

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