The effect of kinematic model complexity on manipulator accuracy

@article{Mooring1989TheEO,
  title={The effect of kinematic model complexity on manipulator accuracy},
  author={Benjamin W. Mooring and S. S. Padavala},
  journal={Proceedings, 1989 International Conference on Robotics and Automation},
  year={1989},
  pages={593-598 vol.1}
}
A pose measurement system consisting of a small coordinate measuring machine, an IBM personal computer, and several fixtures is described. The pose measurement system is used to collect two data sets of 45 poses each. These data are then used to identify the parameters in five manipulator models of increasing complexity. The models consist of a nominal model, a model with six parameters to determine the actual robot location, a 12-parameter model including robot location and joint offsets, a 30… CONTINUE READING

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