Observability Issues in Kinematic Error Parameter Identification of Manipulators

  title={Observability Issues in Kinematic Error Parameter Identification of Manipulators},
  author={Hanqi Zhuang and Zvi S. Roth and Fumio Hamano},
  journal={1990 American Control Conference},
This paper addresses some observability issues in the kinematic error parameter identification of manipulators through derivation and analysis of a generic error model that is independent of any particular choice of robot kinematic modeling convention. It is pointed out that a consistent differential transformation formalism needs to be taken to construct error models in order to assure that the Identification Jacobian is a matrix function of all joint variables and that the joint variables are… CONTINUE READING
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