Identification Method of Kinematic Parameters of Multilink Industrial Manipulator^*

摘要

The paper deals with a method of identification of kinematic parameters of multilink industrial manipulators. This method does not require complex and expensive equipment for high-precision external measurements of position and orientation of the working tool in the absolute coordinate system. The method allows simple and cheap means to significantly increase the dynamic accuracy of the movement of working tools of serial manipulators along spatial trajectories during the performance of various technological operations. The simulation is considered.