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Robot geometry calibrationAutonomous robot task execution requires that the end effector of the robot be positioned accurately relative to a reference world-coordinate frame. The authors present a complete formulation to identify the actual robot geometric parameters. The method applies to any serial link manipulator with arbitrary order and combination of revolute and prismatic joints. A method is also presented to solve the inverse kinematic of the actual robot model which usually is not a so-called simple robot. Experimental results performed by utilizing a PUMA 560 with simple measurement hardware are presented. As a result of this calibration a precision move command is designed and integrated into a robot language, RCCL, and used in the NASA Telerobot Testbed.
Document ID
19890024633
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Hayati, Samad
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Tso, Kam
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Roston, Gerald
(California Institute of Technology Jet Propulsion Laboratory, Pasadena, 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
89A12004
Distribution Limits
Public
Copyright
Other

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