Robot manipulator kinematic compensation using a generalized jacobian formulation

摘要

AbstractThe kinematic error compensation of robot manipulators is at present being attempted by improving the precision of the nominal robot kinematic parameters. This paper addresses the problem of kinematic compensation using a new mathematical joint model proposed to account for shortcomings in existing methods. The corrected manipulator transformation is formulated in terms of “generalized Jacobians”: relating differential errors at the joints to the differential change in the manipulator transformation. The details of application are discussed for a particular industrial manipula