Calibration and parameter identification of a 6-DOF robot using a single radial-distance transducer

Ambarish Goswami, Arthur Quaid, Michael Peshkin

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The absolute accuracy of a robot depends to a large extent on the accuracy with which its kinematic parameters are known. Many methods have been explored for inferring the kinematic parameters of a robot from measurements taken as it moves. Some require an external global positioning system, usually optical or sonic. We have used instead a simple radial-distance linear transducer (LVDT) which measures the distance from a fixed point in the workspace to the robot's endpoint. This scalar data is accumulated as the robot endpoint is moved within one or more spherical "shells" centered about the fixed point. Optimal values for all of the independent kinematic parameters of the robot can then be found. Here we discuss the motivation, theory, implementation, and performance of this particularly easy calibration and parameter identification method. We also address a recent disagreement in the literature about the class of measurements needed to fully identify a robot's kinematic parameters.

Original languageEnglish (US)
Title of host publication1992 IEEE International Conference on Systems, Man, and Cybernetics
Subtitle of host publicationEmergent Innovations in Information Transfer Processing and Decision Making, SMC 1992
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages177-182
Number of pages6
ISBN (Electronic)0780307208, 9780780307209
DOIs
StatePublished - Jan 1 1992
EventIEEE International Conference on Systems, Man, and Cybernetics, SMC 1992 - Chicago, United States
Duration: Oct 18 1992Oct 21 1992

Publication series

NameConference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
Volume1992-January
ISSN (Print)1062-922X

Other

OtherIEEE International Conference on Systems, Man, and Cybernetics, SMC 1992
CountryUnited States
CityChicago
Period10/18/9210/21/92

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Human-Computer Interaction

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