Identifying robot parameters using partial pose information
- 1 October 1993
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Control Systems
- Vol. 13 (5) , 6-14
- https://doi.org/10.1109/37.236317
Abstract
A simple radial-distance linear transducer (LVDT) that measures the distance from several fixed points in the workspace to the robot's endpoint has been used to infer the kinematic parameters of a robot. The motivation, theory, implementation, and performance of this particularly easy calibration and parameter identification method are discussed. A disagreement in the literature about the type of measuring system (in particular, the dimensionality of the pose measurements) needed to fully identify a robot's kinematic parameters is addressed.Keywords
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