Robotic manipulator calibration : development of a general method for kinematic model parameter set identification
Burger, Robert J.
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A general method for establishing a kinematic model of a robotic manipulator with either a full or partial pose calibration system is developed. The theory applicable to modeling of mechanisms is introduced, as is robotic manipulator calibration. Given a general over-specified kinematic model, a method is developed, with the associated algorithms for a six degree of freedom manipulator, that identifies non-unique parameter sets for any given partial pose measurement system. This method is applied and demonstrated on three existing calibration methods.
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