Robot Calibration Using Least- Squares and Polar- Decomposition Filtering

Abstract

This paper reports the experimental results of a novel method to calibrate geometric errors of multi-axis robotic manipulators. The method proposed by the authors is based on a least-square estimation of the rotation matrix of a rigid body in three-dimensional Cartesian space. The error is filtered by hnposing the orthogonality constraint on the rotation… (More)
DOI: 10.1007/BFb0042541

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Cite this paper

@inproceedings{Ioannides1989RobotCU, title={Robot Calibration Using Least- Squares and Polar- Decomposition Filtering}, author={Gregory Ioannides and Jorge Angels and J. Randall Flanagan and David J. Ostry}, booktitle={ISER}, year={1989} }