RESEARCH PAPERS: Mechanisms Papers

Kinematic Calibration of Robotic Manipulators

[+] Author and Article Information
K. Kazerounian, G. Z. Qian

Mechanical Engineering Department, University of Connecticut, Storrs, CT 06269

J. Mech., Trans., and Automation 111(4), 482-487 (Dec 01, 1989) (6 pages) doi:10.1115/1.3259025 History: Received March 01, 1988; Online November 19, 2009


A kinematic calibration model for serial robotic manipulators is presented. This model is based on the zero position analysis method, and is not prone to the difficulties encountered in case of parallel or near parallel joints when using joint coordinate system notations. The convergence and effectiveness of the model are demonstrated by numerical simulations.

Copyright © 1989 by ASME
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