METHOD FOR CALIBRATING AND COMPENSATING ROBOT KINEMATIC ERRORS.

W. K. Veitschegger*, Chi haur Wu

*Corresponding author for this work

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

63 Scopus citations

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 languageEnglish (US)
Title of host publicationUnknown Host Publication Title
PublisherIEEE
Pages39-44
Number of pages6
ISBN (Print)0818607874
StatePublished - Jan 1 1987

ASJC Scopus subject areas

  • Engineering(all)

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