Automatic generation of non-redundant and complete models for geometric and non-geometric errors of robots

International Journal of Modelling and Simulation

Volumn 19, Issue 3, 1999, Pages 236-243

  Vincze, Markus ^a,d   Spiess, Stephan ^a,b,c   Parotidis, Miltiadis ^a,b,c   Götz, Michael ^a,e  

^a VIENNA UNIVERSITY OF TECHNOLOGY   (Austria)

^b Faculty of Electrical Engineering

^c Faculty of Electrical Engineering ^*  (Sweden)

^d RENSSELAER POLYTECHNIC INSTITUTE   (United States)

^e Inst of Surv and Eng Geodesy

Author keywords

[No Author keywords available]

Indexed keywords

CALIBRATION; ERROR ANALYSIS; KINEMATICS; MATHEMATICAL MODELS; MOTION PLANNING; PARAMETER ESTIMATION; ROBOTICS;

AUTOMATIC MODEL GENERATION; NON-REDUNDANT PARAMETERS;

COMPUTER SIMULATION;

EID: 0033321624     PISSN: 02286203     EISSN: None     Source Type: None    
DOI: 10.1080/02286203.1999.11760423     Document Type: Article

References (17)

1. L.J. Everett & A.H. Suryohadiprojo, A study of kinematic models for forward calibration of manipulators, Proc. Conf. on Robotics and Automation, 1988, 798-800.
2. B.W. Mooring, Z.S. Roth, & M.R. Driels, Fundamentals of manipulator calibration (John Wiley & Sons, 1991).
3. P.L. Broderick & R.J. Cipra, A method for determining and correcting robot position and orientation errors due to manufacturing, J. of Mechanisms, Transm., and Autom. in Design, 110(1), 1988, 3-10.
4. L.J. Everett, Models for diagnosing robot error sources, Proc. IEEE Conf. on Robotics & Automation, 1993, 155-159.
5. H. Zhuang, Z.S. Roth, & F. Hamano, A complete and parametrically continuous kinematic model for robot manipulators, IEEE Trans. Robotics & Automation, 8(4), 1992, 451-463.
6. J. Denavit & R.S. Hartenberg, A kinematic notation for lower-pair mechanisms based on matrices, Trans. ASME J. Applied Mechanics, 22(5), 1955, 215-221.
7. K. Schröer et al., Advances in robot calibration: Modelling, parameter identification, measurement, Proc. 25th Int. Symp. on Industrial Robots, 1994, 733-740.
8. S. Ahmad, Second order nonlinear kinematic effects, and their compensation, Proc. Conf. on Robotics and Automation, 1985, 307-314.
9. D.E. Whitney, G.A. Lozinsky, & J.M. Rourke, Industrial robot forward calibration method and results, J. Dynamic Systems, Measurement, and Control, 108(1), 1986, 1-8.
10. R.P. Judd & A.B. Knasinski, A technique to calibrate IR with experimental verification, IEEE Trans. Robotics & Automation, 6(1), 1990, 20-30.
11. S.A. Hayati, Robot arm geometric link parameter estimation, Proc. Conf. Decision and Control, 1983, 1477-1483.
12. Shigley, Uicker, Theory of machines and mechanisms, 2nd ed. (McGraw Hill, 1995).
13. D.J. Bennett & J.M. Hollerbach, Autonomous calibration of single-loop closed kinematic chains formed by manipulators with passive endpoint constraints, IEEE Trans. Robotics and Automation, 7(5), 1991, 597-606.
14. W. Khalil, M. Gautier, & C. Enguehard, Identifiable parameters and optimum configurations for robots calibration, Robotics, 9(1), 1991, 63-70.
15. M. Vincze, A model of direct-drive axes to improve robot accuracy, doctoral diss., Vienna Univ. of Techn., 1993.
16. K.M. Filz, M. Vincze, & J.P. Prenninger, Camera system to detect the orientation of a corner cube in real time, Proc. IEEE Conf. Robotics & Automation, 1995, 1713-1718.
17. S. Spiess, M. Vincze, & M. Ayromlou, On the calibration of a 6D laser tracking system for contactless, dynamic robot measurements, Proc. IEEE Instrumentation and Measurement Technology Conf., 1997, 1203-1209.