Identifying the kinematics of robots and their tasks

@article{Bennett1989IdentifyingTK,
  title={Identifying the kinematics of robots and their tasks},
  author={David J. Bennett and John M. Hollerbach},
  journal={Proceedings, 1989 International Conference on Robotics and Automation},
  year={1989},
  pages={580-586 vol.1}
}
An approach to identifying the kinematic models of manipulators and their task geometry is presented. Starting with the observation that in many tasks manipulators naturally form mobile closed kinematic chains, it is shown that these closed loops can be identified by an iterative least-squares algorithm similar to that used in calibrating open chain manipulators. By merely using joint angle readings and self motions, consistency conditions can be utilized to identify the kinematic parameters… CONTINUE READING

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