Modeling closed-loop mechanisms in robots for purposes of calibration

A method for modeling the significant parameters of closed-loop mechanisms in robots for purposes of calibration is presented. Nonlinear kinematic and mechanical characteristics of the closed-loop mechanisms are modeled in such a way that they can be integrated into an open-loop manipulator model an...

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Bibliographic Details
Published in:IEEE transactions on robotics and automation 1997-04, Vol.13 (2), p.218-229
Main Authors: Schroer, K., Albright, S.L., Lisounkin, A.
Format: Article
Language:English
Subjects:
Actuators
Calibration
Couplings
Kinematics
Life testing
Manipulators
Nonlinear equations
Position measurement
Robot programming
Robots
Service robots
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Summary:A method for modeling the significant parameters of closed-loop mechanisms in robots for purposes of calibration is presented. Nonlinear kinematic and mechanical characteristics of the closed-loop mechanisms are modeled in such a way that they can be integrated into an open-loop manipulator model and identified. This integration is accomplished through a separation of the spatial open-loop manipulator (defining the kinematic model) and its joint-actuating mechanisms or actuator models which can be nonlinear in the case of closed-loop mechanisms. Identifiability of model parameters (including elasticity) is analyzed and calibration results are presented.
ISSN:1042-296X
2374-958X
DOI:10.1109/70.563644