Complete parameter identification of a robot from partial pose information

Ambarish Goswami*, Arthur Quaid, Michael Peshkin

*Corresponding author for this work

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

33 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 languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Editors Anon
PublisherPubl by IEEE
Pages168-173
Number of pages6
Volume1
ISBN (Print)0818634529
StatePublished - Jan 1 1993
EventProceedings of the IEEE International Conference on Robotics and Automation - Atlanta, GA, USA
Duration: May 2 1993May 6 1993

Other

OtherProceedings of the IEEE International Conference on Robotics and Automation
CityAtlanta, GA, USA
Period5/2/935/6/93

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

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    Goswami, A., Quaid, A., & Peshkin, M. (1993). Complete parameter identification of a robot from partial pose information. In Anon (Ed.), Proceedings - IEEE International Conference on Robotics and Automation (Vol. 1, pp. 168-173). Publ by IEEE.