Kinematic-parameter identification for serial-robot calibration based on POE formula

IEEE Transactions on Robotics

Volumn 26, Issue 3, 2010, Pages 411-423

  He, Ruibo ^a   Zhao, Yingjun ^a   Yang, Shunian ^a   Yang, Shuzi ^a  

^a HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY   (China)

Author keywords

Calibration and identification; Identifiable parameters; Product of exponentials (POEs)

Indexed keywords

COMPLIANT ASSEMBLY; ERROR MODEL; EXPONENTIALS; IDENTIFIABILITY; IDENTIFIABLE PARAMETERS; KINEMATIC MODEL; KINEMATIC PARAMETERS; PARAMETER IDENTIFICATION; POSITION ERRORS; PRISMATIC JOINT; REVOLUTE JOINTS; ROBOT CALIBRATION; SERIAL ROBOTS; SIMULATION RESULT; TRANSFORMATION ERRORS; UNIVERSAL MACHINES;

CALIBRATION; ERRORS; KINEMATICS; ROBOTS;

PARAMETER ESTIMATION;

EID: 77953578272     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2010.2047529     Document Type: Article

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