NASA Logo

NTRS

NTRS - NASA Technical Reports Server

Back to Results
Kinematic calibration of manipulators with closed loop actuated jointsA method for performing forward kinematic calibration of manipulators having one or more closed-loop-actuated joints is presented. The technique is an extension of algorithms designed for open-loop jointed manipulators. The calibration is equivalent to minimizing an objective function subject to constraints. The objective function is taken as the integral of end-effector position and orientation error. The constraints arise from the closed-loop mechanisms present in the manipulator.
Document ID
19890024622
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Everett, Louis J.
(Texas A&M Univ. College Station, TX, United States)
Lin, C. Y.
(Texas A & M University College Station, United States)
Date Acquired
August 13, 2013
Publication Date
January 1, 1988
Subject Category
Cybernetics
Meeting Information
Meeting: 1988 IEEE International Conference on Robotics and Automation
Location: Philadelphia, PA
Country: United States
Start Date: April 24, 1988
End Date: April 29, 1988
Accession Number
89A11993
Funding Number(s)
CONTRACT_GRANT: NAG9-192
Distribution Limits
Public
Copyright
Other

Available Downloads

There are no available downloads for this record.
No Preview Available