Modelling experimental procedures for manipulator calibration
modellingexperim00sway.pdf (9.628Mb)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.
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.Collections
Related items
Showing items related by title, author, creator and subject.
-
Effect of the Dynamic Interaction on Coordinated Control of Mobile Manipulators
(IEEE, 1996-10);A mobile manipulator composed of a manipulator and a mobile platform has a much larger workspace than a fixed-base manipulator due to the mobility provided by the platform. While the on-board manipulator reaches out and ... -
Experiments on Command Shaping Control of a Manipulator with Flexible Links
(2002);Minimizing vibrations of a maneuvered flexible manipulator is a challenging task. Results are presented of a series of experimental tests carried out on the Space Robot Simulator assembly, which has been set up at the ... -
Full pose and partial pose calibration of a six degree of freedom robot manipulator arm
(Monterey, California. Naval Postgraduate School, 1991-09);A six degree of freedom robot manipulator arm, a PUMA 560, is calibrated using full pose and partial pose methods in order to improve the accuracy of the manipulator arm. The theory applied to modeling of mechanisms is ...
