Robot manipulator kinematic compensation using a generalized jacobian formulation

Author:

Driels Morris R.,Pathre Uday S.

Publisher

Wiley

Subject

Control and Systems Engineering

Reference9 articles.

1. S. Hayati and M. Mirmirani, “PUMA 600 Robot Arm Geometric Calibration,” in Proceedings of the International Conference Robotics, Atlanta, GA, March 1984.

2. Industrial Robot Calibration Method and Results;Whitney;ASME Proceedings of the International Computer in Engineering Conference and Exhibit,1984

3. J. Denavit and R. S. Hartenberg, “A Kinematic Notation for Lower-Pair Mechanisms Based on Matrices,” ASME J. Applied Mechanics, June, 215-221 (1955).

4. R. P. Paul, B. Shimano, and G. Mayer, “Kinematic Control Equations for Simple Manipulators,” IEEE Transactions on Systems, Man and Cybernetics, June, 449-455 (1981).

5. Error Compensation of Coordinate Measuring Machines;Zhang;Annals of the CIRP,1985

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4. A model of tumbling to improve robot accuracy;Mechanism and Machine Theory;1995-08

5. A systematic approach to identify the error motion of anN-degree of freedom manipulator;The International Journal of Advanced Manufacturing Technology;1994-03

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