標題: An automated robot calibration system based on a variable D-H parameter model
作者: Young, KY
Chen, JJ
Wang, CC
交大名義發表
電控工程研究所
National Chiao Tung University
Institute of Electrical and Control Engineering
公開日期: 1996
摘要: Current robot calibration schemes usually employ calibration models with constant error parameters. Consequently, they are inevitably subject to a certain degree of locality, i.e., the calibrated error parameters (CEPs) will produce the desired accuracy only in certain regions of the robot workspace. This is mainly because of incomplete modeling of errors, resulting in imprecision, and because only a limited amount of measured data are available for identifying CEPs. To deal with the locality phenomenon, CEPs that vary in different regions of the robot workspace may be more appropriate Hence, we propose a variable D-H (Denavit and Hartenberg [2]) parameter model to formulate variations of CEPs. Simulations and experiments that verify the effectiveness of the proposed calibration system are described.
URI: http://hdl.handle.net/11536/19834
ISBN: 0-7803-3591-0
ISSN: 0191-2216
期刊: PROCEEDINGS OF THE 35TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-4
起始頁: 881
結束頁: 886
Appears in Collections:Conferences Paper