Full Pose and Partial Pose Calibration of a Six Degree of Freedom RobotManipulator Arm

摘要

A six degree of freedom robot manipulator arm, a PUMA 560, is calibrated usingfull pose and partial pose methods in order to improve the accuracy of the manipulator arm. The theory applicable to modeling of mechanisms is introduced. A thirty parameter kinematic model is developed for use in the full pose calibration method and a twenty-six parameter kinematic model is developed for the partial pose calibration. A simulation study is performed to determine the applicability and feasibility of each model. Experimental pose measurements are performed using each method to obtain data with which to perform an actual calibration of the manipulator and compare with the predicted results. The effects of noise in each measurement system employed and in the manipulator's joint position encoders are discussed. The measurement systems employed are examined in detail and a comparison between the two is performed. The measured kinematic parameters of each model are presented as results.