Author:
Khalil W.,Gautier M.,Enguehard Ch.
Abstract
SUMMARYThis paper presents a general method to identify the geometric parameters of robots. An algorithm is given to calculate the identifiable geometric parameters. The robot location and the tool location parameters are taken into account. The algorithm is generalized to tree structure robots. The problem of selecting the optimum robot configurations to be used during the identification is discussed and a solution is proposed.
Publisher
Cambridge University Press (CUP)
Subject
Computer Science Applications,General Mathematics,Software,Control and Systems Engineering
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