Robotic manipulator calibration : development of a general method for kinematic model parameter set identification
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Authors
Burger, Robert J.
Subjects
NA
Advisors
Driels, Morris
Date of Issue
1994-12
Date
December, 1994
Publisher
Monterey, California. Naval Postgraduate School
Language
en_US
Abstract
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.
Type
Thesis
Description
Series/Report No
Department
Mechanical Engineering
Organization
Identifiers
NPS Report Number
Sponsors
Funder
NA
Format
101 p.;28 cm.
Citation
Distribution Statement
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.