A linear solution to the kinematic parameter identification of robot manipulators
- Florida Atlantic Univ., Boca Raton, FL (United States)
An important step in a model-based robot calibration process is the identification of the manipulator's unknown kinematic model parameters from end-effector pose measurements and robot joint position readings at known measurement configurations. A linear solution method for the unknown kinematic parameters directly from the forward kinematic model is presented. The proposed method requires the use of neither a nominal model nor a linear error model of the robot. Such a solution is possible for two reasons: (1) the use of a special robot kinematic modeling convention known as the CPC model, in which the independent CPC link parameters appear linearly in the system of equations to be solved; and (2) the use of a particular sequence of robot pose measurements. The CPC orientation parameters of the revolute joints are first determined recursively under the condition that the pose measurements of the robot are taken while releasing each revolute joint one at a time and successively. The remaining CPC parameters are then computed in terms of the orientation parameters obtained earlier. For explicit solution formulas of an n degree-of-freedom manipulator, end-effector pose measurements from n + 1 configurations need to be acquired. Additional pose measurements can be handled by least squares techniques. Some practical issues related to kinematic parameter identification with the proposed approach are addressed through simulation studies.
- OSTI ID:
- 5831281
- Journal Information:
- IEEE Transactions on Robotics and Automation (Institute of Electrical and Electronics Engineers); (United States), Vol. 9:2; ISSN 1042-296X
- Country of Publication:
- United States
- Language:
- English
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