Kinematic accuracy analysis of serial manipulator based on POE formula

@article{Shen2016KinematicAA,
  title={Kinematic accuracy analysis of serial manipulator based on POE formula},
  author={Jing Jin Shen and Ying Jiang Zhou},
  journal={2016 35th Chinese Control Conference (CCC)},
  year={2016},
  pages={9547-9550}
}
In the kinematic calibration of robots, an essential step is to develop an error model. Recently, the product of exponentials (POE) due to its singularity-free property has been widely used in the calibration. However, the previous error models based on POE are of linear kind. In this paper, to investigate the applicability of the liner model, a second order error model is established. Based on the error model, the corresponding statistical models are developed and applied for the Puma 560. It… CONTINUE READING

Similar Papers

References

Publications referenced by this paper.
SHOWING 1-10 OF 14 REFERENCES

Comparative study of robot kinematic calibration algorithms using a unified geometric framework

  • 2014 IEEE International Conference on Robotics and Automation (ICRA)
  • 2014
VIEW 1 EXCERPT