Modelling experimental procedures for manipulator calibration
Swayze, William Earl
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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.
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