Modelling experimental procedures for manipulator calibration
Loading...
Authors
Swayze, William Earl
Subjects
Robot manipulator calibration
Advisors
Driels, Morris
Date of Issue
1991-12
Date
December 1991
Publisher
Monterey, California. Naval Postgraduate School
Language
en_US
Abstract
A six-degree of freedom manipulator, a PUMA 560, is calibrated using three different measurement systems in order to improve the accuracy of the manipulator. Closed loop kinematic chain modeling theory is presented. Variations in the models for each calibration method are presented. A simulation study is conducted to determine feasibility of the proposed methods. Experimental data is obtained and the actual calibration performed. A comparative analysis between both simulation and experiment and between measurement systems is performed. Various aspects regarding measurement system modeling are discussed. The calibrated kinematic parameters are presented as results.
Type
Thesis
Description
Series/Report No
Department
Mechanical Engineering
Organization
Naval Postgraduate School (U.S.)
Identifiers
NPS Report Number
Sponsors
Funder
Format
198 p.
Citation
Distribution Statement
Approved for public release; distribution is unlimited.
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.