Robot arm geometric link parameter estimationA general method for estimating serial link manipulator geometric parameter errors is proposed in this paper. The positioning accuracy of the end-effector may be increased significantly by updating the nominal link parameters in the control software to represent the physical system more accurately. The proposed method is applicable for serial link manipulators with any combination of revolute or prismatic joints, and is not limited to a specific measurement technique.
Document ID
19850051168
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Hayati, S. A. (California Institute of Technology, Jet Propulsion Laboratory, Pasadena CA, United States)