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TECHNICAL PAPERS

Geometric Algorithms for Kinematic Calibration of Robots Containing Closed Loops

[+] Author and Article Information
C. C. Iuraşcu, F. C. Park

School of Mechanical and Aerospace Engineering, Seoul National University, Seoul 151-742, Korea

J. Mech. Des 125(1), 23-32 (Mar 21, 2003) (10 pages) doi:10.1115/1.1539512 History: Received November 01, 2000; Revised May 01, 2002; Online March 21, 2003
Copyright © 2003 by ASME
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References

Figures

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The planar four-bar mechanism.
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Joint encoder and end-effector measurements.
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Manifold description of the joint and task spaces, and the measurement data.
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The “best-fit” in joint and task spaces.
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Determining the “best fit” to the data points allowing for joint offset errors.
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Uncertainty region measurements in joint and task spaces.
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Calibration procedure considering measurement errors.
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Geometric framework for three joints instrumented: (a) no measurement errors (b) with measurement errors.
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Calibration procedure for two joints instrumented.
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Measuring goodness of fit in the total least square sense.
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An illustration of kinematic calibration using both joint encoder and task space measurements.
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Kinematic structure of the Eclipse-Perspective View.
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Kinematic structure of the Eclipse-Top and Side Views.
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Dynamic Circularity Plot—before calibration, feed rate 720 mm/min.
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Dynamic Circularity Plot-after calibration, feed rate 720 mm/min.
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Static Circularity Plot—before calibration.
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Static Circularity Plot—after calibration.

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