Robotic Manipulator Calibration: Development of a General Method for KinematicModel Parameter Set Identification

摘要

A general method for establishing a kinematic model of a robotic manipulator witheither a full or partial pose calibration system is developed. The theory applicable to modeling of mechanisms is introduced, as is robotic manipulator calibration. Given a general over-specified kinematic model, a method is developed, with the associated algorithms for a six degree of freedom manipulator, that identifies non-unique parameter sets for any given partial pose measurement system. This method is applied and demonstrated on three existing calibration methods. (AN).