Forward Calibration of Closed-Loop Jointed Manipulators

Author:

Everett Louis J.1

Affiliation:

1. Department of Mechanical Engineering Texas A&M University College Station, Texas

Abstract

A method for performing forward kinematic calibration of manipulators with one or more closed-loop actuated joints is presented. The technique is an extension of algorithms de signed for open-loop jointed manipulators and is equivalent to minimizing a constrained objective function. The con straints arise from the closed-loop mechanisms in the manip ulator. The objective function is taken as the integral of end effector position and orientation error and is optimized using the method of Lagrange multipliers.

Publisher

SAGE Publications

Subject

Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modeling and Simulation,Software

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