A method for calibrating and compensating robot kinematic errors


This paper presents a method of calibrating and compensating for the kinematic errors in robat manipulators. A method Of selecting a set of independent kinematic errors for modeling any geometric errors in a manipulator’s structure is developed. A calibration algorithm is presented for finding the values of these kinematic errors by measuring the end-effector Cartesian position. These kinematic errors are experimentally determined for a PUMA 560 six joint manipdata-. Two generd purpose compensation are developed and the improvement in the Cartesian position of the endeffector is experimentally measwed and these results are Presented.

DOI: 10.1109/ROBOT.1987.1087839

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@inproceedings{Veitschegger1987AMF, title={A method for calibrating and compensating robot kinematic errors}, author={William K. Veitschegger and Chi-Haur Wu}, booktitle={ICRA}, year={1987} }