Complete parameter identification of a robot from partial pose information

Ambarish Goswami; Arthur Quaid; Michael Peshkin

Complete parameter identification of a robot from partial pose information

Ambarish Goswami^*, Arthur Quaid, Michael Peshkin

^*Corresponding author for this work

Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

38 Scopus citations

Abstract

The absolute accuracy of a robot depends to a large extent on the accuracy with which its kinematic parameters are shown. 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 incomplete pose information 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.

Original language	English (US)
Title of host publication	Proceedings - IEEE International Conference on Robotics and Automation
Editors	Anon
Publisher	Publ by IEEE
Pages	168-173
Number of pages	6
Volume	1
ISBN (Print)	0818634529
State	Published - Jan 1 1993
Event	Proceedings of the IEEE International Conference on Robotics and Automation - Atlanta, GA, USA Duration: May 2 1993 → May 6 1993

Other

Other	Proceedings of the IEEE International Conference on Robotics and Automation
City	Atlanta, GA, USA
Period	5/2/93 → 5/6/93

ASJC Scopus subject areas

Software
Control and Systems Engineering

Cite this

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title = "Complete parameter identification of a robot from partial pose information",

abstract = "The absolute accuracy of a robot depends to a large extent on the accuracy with which its kinematic parameters are shown. 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 incomplete pose information 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.",

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AU - Quaid, Arthur

AU - Peshkin, Michael

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N2 - The absolute accuracy of a robot depends to a large extent on the accuracy with which its kinematic parameters are shown. 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 incomplete pose information 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.

AB - The absolute accuracy of a robot depends to a large extent on the accuracy with which its kinematic parameters are shown. 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 incomplete pose information 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.

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M3 - Conference contribution

AN - SCOPUS:0027147406

SN - 0818634529

VL - 1

SP - 168

EP - 173

BT - Proceedings - IEEE International Conference on Robotics and Automation

A2 - Anon, null

PB - Publ by IEEE

T2 - Proceedings of the IEEE International Conference on Robotics and Automation

Y2 - 2 May 1993 through 6 May 1993

ER -

Complete parameter identification of a robot from partial pose information

Abstract

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ASJC Scopus subject areas

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