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
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Cite this
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.