Abstract
A method is presented for calibrating and compensating for the kinematic errors in robot manipulators. A method of selecting a set of independent kinematic errors for modeling any geometric errors in a manipulator's structure is developed. A calibration algorithm is presented for finding the values of these kinematic errors by measuring the end-effector Cartesian position. These kinematic errors are experimentally determined for a PUMA 560 six-joint manipulator. Two general-purpose compensation algorithms are developed and the improvement in the Cartesian position of the end-effector is experimentally measured and these results are presented.
| Original language | English (US) |
|---|---|
| Title of host publication | Unknown Host Publication Title |
| Publisher | IEEE |
| Pages | 39-44 |
| Number of pages | 6 |
| ISBN (Print) | 0818607874 |
| State | Published - Jan 1 1987 |
ASJC Scopus subject areas
- Engineering(all)