Accession Number:

ADA159166

Title:

A Perturbation Approach to Robot Calibration.

Descriptive Note:

Interim technical rept.,

Corporate Author:

CARNEGIE-MELLON UNIV PITTSBURGH PA ROBOTICS INST

Report Date:

1985-04-01

Pagination or Media Count:

25.0

Abstract:

The forward and reverse solutions of a manipulator with six joints are expanded up to second order in the 24 joint parameters. This paper attempts to establish a mathematical reference frame for geometric errors only. No attempt is made to quantify the relative contribution of geometric and non-geometric errors, since this ratio is application dependent and will also depend on the design of the manipulator itself. Since in high speed operations high positional accuracy is desirable, we address the question of how to cope with geometric deviations from the ideal manipulator configuration. Additional keywords matricesmathematics transformationmathematics.

Subject Categories:

  • Theoretical Mathematics

Distribution Statement:

APPROVED FOR PUBLIC RELEASE