Kinematic-Parameter Identification for Serial-Robot Calibration Based on POE Formula

  title={Kinematic-Parameter Identification for Serial-Robot Calibration Based on POE Formula},
  author={Ruibo He and Yingjun Zhao and Shunian Yang and Shuzi Yang},
  journal={IEEE Transactions on Robotics},
This paper presents a generic error model, which is based on the product of exponentials (POEs) formula, for serial-robot calibration. The identifiability of parameters in this error model was analyzed. The analysis shows the following: 1) Errors in all joint twists are identifiable. 2) The joint zero-position errors and the initial transformation errors cannot be identified when they are involved in the same error model. With either or neither of them, three practicable error models were… CONTINUE READING

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